Autonomous Troubles

[MrRehder]

My team and I have been working on autonomous and haven't been able to get it to work properly.

At the start of the match, our robot has its loading arm in a position to keep it in the frame. The first thing the robot is supposed to do in autonomous is to push the arm out with pistons and immediately bring it back in and then uses the loader motor to pin the ball in the right spot. Then it is supposed to drive forward to the shooting position. Then it is supposed to turn on the shooter motors, wait, then fire the ball once the shooter motors are up to speed and shut off all motors.

The piston code for whatever reason wasn't working unless it was in a loop even though the loop only executes once. That code works fine.

It drives fine, but we haven't tested the timing so odds are 3 seconds is too long.

The loader motor and shooter motor are the ones that are giving us trouble.
We will start up the robot, run autonomous and it will work. Shut down the robot, deploy a second time. The robot will drive forward, put the ball in the right position, but when it goes to turn on the shooting motors they twitch. Then it goes to fire and those motors twitch, and again doesn't actually move the motors more than a single twitch.

It doesn't happen consistently. One second it will work fine, with no problems, the next it won't work at all.

My first assumption was there is something in periodic tasks that was the problem so I added a global variable that is set to false when autonomous is run and true when in teleop to start up the periodic task stuff.

That did not fix the problem.

I put numeric displays that change value as the program goes through the flat sequence and all of them display correctly, so I don't think it is getting hung up but I have not been able to fix this.

I was wondering if anyone else had had a similar problem and how you fixed it. Below is a picture of my autonomous.
http://www.chiefdelphi.com/forums/at...d=13953213 54