How to Program Mecanum

[LFRobotics]

Okay that didn't work either. Nothing works. The program uploads - the DS doesn't through any errors - it shows all green lights - but nothing happens with the Joysticks - I can press anything on the XBox controller and nothing happens. I can still make the robot move using ,my preassigned values in autonomous.

Here is the upload for Eclipse:

Buildfile: C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\build.xml
Trying to override old definition of task classloader
clean:
   [delete] Deleting directory C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\build
   [delete] Deleting directory C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\dist
compile:
    [mkdir] Created dir: C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\build
     [echo] [athena-compile] Compiling src with classpath=C:\Users\Kristen/wpilib/java/current/lib/WPILib.jar:C:\Users\Kristen/wpilib/java/current/lib/NetworkTables.jar to build
    [javac] Compiling 8 source files to C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\build
jar:
     [echo] [athena-jar] Making jar dist/FRCUserProgram.jar.
    [mkdir] Created dir: C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\dist
    [mkdir] Created dir: C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\build\jars
     [echo] [athena-jar] Copying jars from C:\Users\Kristen/wpilib/java/current/lib/WPILib.jar:C:\Users\Kristen/wpilib/java/current/lib/NetworkTables.jar to build/jars.
     [copy] Copying 2 files to C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\build\jars
      [jar] Building jar: C:\Users\Kristen\Documents\GitHub\Copy of Copy of Getting Started\dist\FRCUserProgram.jar
get-target-ip:
     [echo] Trying Target: roboRIO-4623.local
     [echo] roboRIO found via mDNS
dependencies:
     [echo] roboRIO image version validated
     [echo] Checking for JRE. If this fails install the JRE using these instructions: https://wpilib.screenstepslive.com/s/4485/m/13503/l/288822-installing-java-8-on-the-roborio-using-the-frc-roborio-java-installer-java-only
  [sshexec] Connecting to roboRIO-4623.local:22
  [sshexec] cmd : test -d /usr/local/frc/JRE
deploy:
     [echo] [athena-deploy] Copying code over.
      [scp] Connecting to roboRIO-4623.local:22
      [scp] done.
      [scp] Connecting to roboRIO-4623.local:22
      [scp] done.
     [echo] [athena-deploy] Starting program.
  [sshexec] Connecting to roboRIO-4623.local:22
  [sshexec] cmd : . /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r;
  [sshexec] stopped process in pidfile '/var/run/natinst/FRC_UserProgram.pid' (pid 4205)
BUILD SUCCESSFUL
Total time: 13 seconds

Here is the link to the updated code:

https://github.com/MrSTUDofCODE/NewM...team4623/robot

Also we have another person programming in labview - so I went into the web interface and checked disable RT startup - which should have switched it back to JAVA

PLEASE help - THANKS!

[cstelter]

I think you need to add Scheduler.run() in TeleopPerodic()

Edit: Never go off memory-- it should be

    public void teleopPeriodic() {
        Scheduler.getInstance().run();
    }

[cstelter]

Building on last post--

When you push teleop mode on Drive station, IterativeRobot will call teleopInit() and then call teleopPeriodic() every 20ms.

Similarly when you press Autonomous from drive station, it calls autonomousInit() and then autonomousPeriodic() every 20ms after that.

Your autonomousPeriodic() directly calls your drivetrain so you are making that call every 20ms in autonomous. This is why this mode works for you.

Note, you should *never* call any subsytem functionality from anything but a command. You are only asking for trouble.

Your autonomousPeriodic() *should* be:

    public void autonomousPeriodic() {
        Scheduler.getInstance().run();
    }

You should create a command field in your Robot class

public class Robot extends IterativeRobot {
    Command autonomousCommand;
    ...

and then you can do something like this in autonomousInit:

    public void autonomousInit() {
        // schedule the autonomous command (example)
        if (autonomousCommand == null) {
            autonomousCommand=new leftStraffe();
        } 
        autonomousCommand.start();
    }

Now, when you run autonomous, we simply run the scheduler. The autonomous starts your leftStraffe command (note, java convention is to name classes with a captial so LeftStraffe may be a better name because you will have to look back less to see how you spelled it if you are consistent with your naming conventions), so that command is now being controlled by the scheduler. It will call execute() which in turn will be the appropriate way call your mecanum drive function.

[cstelter]

Just one more thing I'm compelled to point out....

Originally Posted by LFRobotics

Okay that didn't work either. Nothing works.

FRC is the hardest fun you'll ever have. If it always worked the first time you might have fun, but it wouldn't be hard and you probably would learn less.

Originally Posted by LFRobotics

The program uploads - the DS doesn't through any errors - it shows all green lights - but nothing happens with the Joysticks - I can press anything on the XBox controller and nothing happens. I can still make the robot move using ,my preassigned values in autonomous.

Wait a second! The above is in direct contradiction to your 'Nothing Works' assertion! (all is not lost-- your autonomous moves!!!!)

Don't be discouraged. You're living the FRC dream my friend. You're facing challenges looking for answers. This is my life too-- I'm a 25 year professional software engineer. I've had these moments too.

But the true joy will come in learning, and building on what you have learned. Every time I get stuck in my job, I'm on stackoverflow or google searching for a solution to my particular problem. But I would not have gotten as far as I have by concluding 'Nothing Works'. Don't go there.

You *will* get through this.

[mac]

Hello. How far have you trouble shot. Is the radio working both ways? Has the robot done any commands? Can you hard wire it to run? Fresh battery? My 3 cents. Thank You Thomas (just give me a crabcake) McCubbin