[C++] Use CAN Talons in RobotDrive

[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.