[cRIO] Robot Drive... Output not updated often enough.

[Team 4939]

I went thru all the things that you all suggested (thank you) but still the same problem shows up.

Any other suggestions would be appreciated...

[notmattlythgoe]

Originally Posted by Team 4939

I went thru all the things that you all suggested (thank you) but still the same problem shows up.

Any other suggestions would be appreciated...

Can you post your updated code so we can see what you changed?

[Team 4939]

Here is the new code:

package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Joystick;
public class RobotTemplate extends SimpleRobot
{
 private RobotDrive drivetrain;
 private Joystick mainStick;
 public RobotTemplate()
 {
 drivetrain = new RobotDrive(1, 2); // create RobotDrive
 mainStick = new Joystick(1); // and joysticks
 }
 public void autonomous() {
 for (int i = 0; i < 4; i++) {
 drivetrain.drive(0.5, 0.0); // drive 50% forward with 0% turn
 Timer.delay(2.0); // wait 2 seconds
 drivetrain.drive(0.0, 0.75); // drive 0% forward and 75% turn
 }
 drivetrain.drive(0.0, 0.0); // drive 0% forward, 0% turn (stop)
 }
 public void OperatorControl()
 {
 while (true && isOperatorControl() && isEnabled())
 {
 drivetrain.arcadeDrive(mainStick);// drive w/joysticks
 Timer.delay(0.02);
 }
 }
}

[eddie12390]

Originally Posted by Team 4939

Here is the new code:

-snip-
 public void OperatorControl()
 {
 while (true && isOperatorControl() && isEnabled())
 {
 drivetrain.arcadeDrive(mainStick);// drive w/joysticks
 Timer.delay(0.02);
 }
 }
}

You didn't rename OperatorControl() to operatorControl() as suggested.

Also, the initial part of that while condition does absolutely nothing.

[Team 4939]

Originally Posted by eddie12390

the initial part of that while condition does absolutely nothing.

Can you please explain what you mean by that.

[eddie12390]

Originally Posted by Team 4939

Can you please explain what you mean by that.

Just that putting

true &&

is redundant.

[Team 4939]

Ok so thank you for all your help. We fixed our problem by changing our code. The new code is posted below. But now the problem is that when we turn the joystick left the robot goes right and vice-versa. Though it goes back and forth perfectly. Any input would be appreciated. When running the program no errors show up.

package edu.wpi.first.wpilibj.templates;
 
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Timer;
 
public class RobotTemplate extends SimpleRobot {
    
    RobotDrive chassis = new RobotDrive(1,2);
    Joystick mainStick = new Joystick(1);
    
    public void autonomous() {
        
    }
    
    public void operatorControl() {
        chassis.setSafetyEnabled(true);
        while (isOperatorControl() && isEnabled()) {
            double speed;
            double rot;
            speed = mainStick.getY();
            rot = mainStick.getX();
            chassis.arcadeDrive (speed, rot);
    }
    }
   
    public void test() {
       
    }
}

[wireties]

How can this work with the following addresses? Did you fix this?

...
Host JVM: Java HotSpot(TM) Client VM 24.51-b03
Target IP: 10.49.39.2
Network interfaces on host:
Intel(R) Centrino(R) Wireless-N 2200: address: 10.49.39.64 netmask: 255.255.255.254
WARNING: Host is not on same subnet as robot. May not be able to complete all communication with robot.
...

Your computer (if you are also running the driver station) needs to be 10.49.39.5 or 10.49.39.9 and the netmask wide enough to cover all the relevant addresses, so maybe 255.255.255.0 or wider. If another computer is used as the DS you still need to fix that netmask.

HTH

[Team 4939]

I'm not sure what you mean, could you please expand. If you are talking about changing the IP address when transferring code and using the driver station we make sure of this every time. We use the classmates for the driver stations and personal laptops for running the code.

[wireties]

Originally Posted by Team 4939

I'm not sure what you mean, could you please expand. If you are talking about changing the IP address when transferring code and using the driver station we make sure of this every time. We use the classmates for the driver stations and personal laptops for running the code.

I was commenting on some of your debug output. Two computers set with the addresses 10.49.39.2:255.0.0.0 and 10.49.39.64:255.255.255.254 might have trouble talking to each other. The 10.49.39.64 machine would conclude that 10.49.39.2 is NOT on the same logical network and would forward packets destined to 10.49.39.2 to a router/gateway.

HTH

[Ty Tremblay]

Originally Posted by Team 4939

    
    public void operatorControl() {
        chassis.setSafetyEnabled(true);
        while (isOperatorControl() && isEnabled()) {
            double speed;
            double rot;
            speed = mainStick.getY();
            rot = mainStick.getX();
            chassis.arcadeDrive (speed, rot);
    }
    }

}

A quick fix for your turning backwardness is to invert the sign of your stick values (value * -1):

rot = -mainStick.getX();

Additionally, you could check to make sure your motors are wired correctly to the speed controllers, that your PWM cables are plugged into the controllers you want them to be plugged into, or that you set up your arcadeDrive/controllers in the right way in your code.

[Team 4939]

Thank you everybody we were able to fix our problems. We really appreciate it.

[wireties]

Good luck!