[C++] Use CAN Talons in RobotDrive

[ozrien]

If you are seeing kNoDrive then most likely set is not being called. See software reference manual for more details.

[1452-Leo]

Originally Posted by ozrien

If you are seeing kNoDrive then most likely set is not being called. See software reference manual for more details.

Can I just call Set() once at the beginning of teleop or is there something I have to change in RobotDrive? Unfortunately, I can't test until Monday.

[TimTheGreat]

Are you calling Wait(.01) in your code? That may cause the code to do nothing.

[viggy96]

Could also try creating a new project. Sometimes projects get messed up. On the surface, it may not seem like it matters, but it could be worth a try.

I reccomend you switch from using the SampleRobot project to using IterativeRobot and try the code again.

[viggy96]

This should work, but as I don't have a bot with TalonSRXs, I can't confirm this, but you could try it. I have used the IterativeRobot class.

class Robot: public IterativeRobot
{
private:
	LiveWindow *lw;

	CANTalon leftFront = new CANTalon(1);
	CANTalon leftBack = new CANTalon(5);
	CANTalon rightFront = new CANTalon(2);
	CANTalon rightBack = new CANTalon(6);

	RobotDrive drive = new RobotDrive(leftFront, leftBack, rightFront, rightBack);

	Joystick stick = new Joystick(1);

	Gyro gyro = new gyro(0);

	void RobotInit()
	{
		lw = LiveWindow::GetInstance();
	}

	void AutonomousInit()
	{

	}

	void AutonomousPeriodic()
	{

	}

	void TeleopInit()
	{

	}

	void TeleopPeriodic()
	{
		drive.MecanumDrive_Cartesian(stick.getX(), stick.getY(), stick.getThrottle(), gyro.getAngle());
	}

	void TestPeriodic()
	{
		lw->Run();
	}
};

[1452-Leo]

Originally Posted by viggy96

This should work, but as I don't have a bot with TalonSRXs, I can't confirm this, but you could try it. I have used the IterativeRobot class.

How would this be different than the code I started with? Iterative basically just adds a function to be called at the beginning, but doesn't really change what is actually going on in the program.

[virtuald]

Originally Posted by 1452-Leo

How would this be different than the code I started with? Iterative basically just adds a function to be called at the beginning, but doesn't really change what is actually going on in the program.

Iterative waits for each driver station packet for each iteration, whereas your original code runs in a tight loop without waiting for input. If you added a 20ms sleep in your loop, it would be vaguely equivalent to the iterative version.

Either way, you should add some sleep to your loop, otherwise you'll starve the rest of the threads on your system and you'll encounter problems. I'd recommend using iterative robot instead though, then you don't have to worry about things like that.

[1452-Leo]

Originally Posted by virtuald

Iterative waits for each driver station packet for each iteration, whereas your original code runs in a tight loop without waiting for input. If you added a 20ms sleep in your loop, it would be vaguely equivalent to the iterative version.

Either way, you should add some sleep to your loop, otherwise you'll starve the rest of the threads on your system and you'll encounter problems. I'd recommend using iterative robot instead though, then you don't have to worry about things like that.

Thanks, I didn't realize there was an actual difference in the how the program ran for iterative, so we will probably switch over to it today.

[kmateti]

Please post your progress... we have the same exact need, and are hard coding our drive code currently... CAN has so many benefits, but so does using RobotDrive...

Thanks!

[1452-Leo]

Originally Posted by kmateti

Please post your progress... we have the same exact need, and are hard coding our drive code currently... CAN has so many benefits, but so does using RobotDrive...

Thanks!

We haven't had any time to test really, so we have just hardcoded the Mecanum drive with no gyro. I hope that we can get RobotDrive sorted out later today, but I'm not too sure. Of course I'll post the solution here though if we find it!

[ozrien]

This might help, I ran this code on my mec bot, with gyro and CANTalons. I use IterativeRobot (it's just my preference).

http://www.chiefdelphi.com/forums/sh...3&postcount=20

[1452-Leo]

Originally Posted by ozrien

This might help, I ran this code on my mec bot, with gyro and CANTalons. I use IterativeRobot (it's just my preference).

http://www.chiefdelphi.com/forums/sh...3&postcount=20

Thanks! I'll have to try this later. I did just get RobotDrive working by putting this before the drive function:

leftFront->SetControlMode(CANSpeedController::kPercentVbus);
leftBack->SetControlMode(CANSpeedController::kPercentVbus);
rightFront->SetControlMode(CANSpeedController::kPercentVbus);
rightBack->SetControlMode(CANSpeedController::kPercentVbus);

There are problems with this solution though. For example, I can't reverse the motors anymore (it doesn't drive as soon as I add SetInvertedMotor in). I have another idea though that I will try later.