Autonomous mode

[itwasntme455]

Does anyone have an example and can kind of explain how to program in autonomous.vi?

[Greg McKaskle]

If you have the teleOp working on a robot, you should be able to carefully remove the comment structure from the auto code. There are two approaches. One makes calls to RobotDrive and delay functions. The other does this in a loop with array of points that defines the movements.

Greg McKaskle

[Mark McLeod]

Here's another sample Autonomous that just drives a little.

[itwasntme455]

Originally Posted by Mark McLeod

Here's another sample Autonomous that just drives a little.

What does wait mean?

[aeastet]

Originally Posted by itwasntme455

What does wait mean?

For the code that was provided the wait will keep you in that frame for the time that is connected. The wait is in milliseconds. If there is a 2000 constant connected then it will stay in that frame for 2 seconds.

[itwasntme455]

Originally Posted by Mark McLeod

Here's another sample Autonomous that just drives a little.

I keep getting this error in the simulator.

ERROR -44061 occurred at "Left and Right Motors" in the VI path: Robot Main.vi
FRC: The loop that contains RobotDrive is not running fast enough. This error can occur if the loop contains too much code, or if one or more other loops are starving the RobotDrive loop.

What does it mean?

[Mark McLeod]

It means you probably copied the example a little too exactly.
Your drive motors are named "Left and Right Motors"
The example however uses motors named "Robot Drive"

Change the name in the example from "Robot Drive" to "Left and Right Motors"

[aeastet]

Originally Posted by Mark McLeod

It means you probably copied the example a little too exactly.
Your drive motors are named "Left and Right Motors"
The example however uses motors named "Robot Drive"

Change the name in the example from "Robot Drive" to "Left and Right Motors"

You will also see this in LabVIEW most of the time. It is a warning and as long as you do not get a fault then you are OK. If your timeout gets too long you will get shut down during the match. Everything uses a watchdog timer. Basically it tells the field that you are still there. If it takes too long then it shuts you down.

Make sure that you are not putting all of your code in the teleop loop. You need to move non time critical operation outside of teleop.

[Greg McKaskle]

Just saw this and wanted to clarify.

You will also see this in LabVIEW most of the time. It is a warning and as long as you do not get a fault then you are OK. If your timeout gets too long you will get shut down during the match. Everything uses a watchdog timer. Basically it tells the field that you are still there. If it takes too long then it shuts you down.

This is a safety feature similar to a watchdog, but more specific to the robot base. It is enabled by default so that debugging the robot is somewhat more safe. If the safety feature is enabled, it will zero the motors after 100ms, but will not result in a match-long disable or anything like that.

As for whether this happens more often in LV, it is pretty common to see it at the end of a team's autonomous but before the end of the period. Since the robot is already finished moving, it causes no harm.

Greg McKaskle