How to Program Mecanum

[cstelter]

Originally Posted by LFRobotics

Okay THANKS for all the help! I changed it and it works for forwards/backwards and straffing - I am going to program turning with the buttons. Now I am trying to program pnuematics and I did it last year and it was easy but all my button assignments don't work this year - I have the updated mappings too - here is the new code:

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

THANKS again!

Hooray! It's working.


I see you have created a subsystem and commands for pneumatics, and Scheduler is being run in telopPeriodic so lots looks right there.

You have buttons to schedule your commands to extend and retract, so that looks good.

But you took a shortcut and went away from subsystem/command for your drive train. I would reintroduce the old mecanum subsystem you used to have and move the motors and the mecanumDrive function you currently have on Robot to that subsystem.

I would set the defaultCommand (as in the old version) to DriveTele-- this will automatically schedule DriveTele at startup.

Then in execute() of DriveTele, you can make your call to Robot.mecanum.mecanumDrive() as you are currently doing in teleopPeriodic().

This will work better long term than the shortcut.

Flow *should* be

1. Default Command DriveTele scheduled at statrup
   
2. teleopPeriodic()
   
3. Scheduler.getInstance().run()
4. Scheduler calls DriveTele.execute()
5. DriveTele.execute() calls mecanum.mecanumDrive()
6. if you are pressing the one button, extend will be scheduled and you will next go to
   extend.execute()
   if pushing retarct, the retract.execute() will get called
   or if neither button pressed we are done with Sheduler.run
7. Repeat back at step 2

You have taken a shortcut for your mecanumDrive call and gotten rid of steps 1, 3,4,5 and instead hardcoded what should be in DriveTele.execute and put it just before the last step to repeat.

It's better for Scheduler to schedule a default DriveTele command and manage calls to execute than for you to directly call mecanumDrive() on Robot without any command or subsystem.