PID & One Second Delay Between Auto and TeleOp

[GeeTwo]

Originally Posted by WillNess

Questions: Do I need the .stop() and .reset() or just one? does the .reset() start the timer again?

The documentation isn't clear. Going back to the source code, it appears that the timer carries the "accumulated time" from a stop to a start, so if you want to zero the result of later get()s, you must do a reset(). (I'm presuming that the C++ and Java versions behave equivalently.)

[WillNess]

Originally Posted by GeeTwo

The documentation isn't clear. Going back to the source code, it appears that the timer carries the "accumulated time" from a stop to a start, so if you want to zero the result of later get()s, you must do a reset(). (I'm presuming that the C++ and Java versions behave equivalently.)

Ok so if we implement something equivalent to this code, right before I start it I will do a timer.reset();

[MrRoboSteve]

I think this is closer to what you want. The logic is simpler if you move the timer check into disabledPeriodic(). The result of timer.getFPGATimestamp() is probably not what you want.

bool teleopAfterAutonomous = false;

autonomousInit() {
  teleopAfterAutonomous = true;
}

disabledInit(){
  disabledTimer.Reset();
  disabledTimer.Start();
}

disabledPeriodic(){
  if (disabledTimer.Get() > 1) {
    // If we're disabled for more than one second, assume that we are not in a match
    // Might be necessary to bump 1 above to a somewhat higher value.    
    teleopAfterAutonomous = false;
  }
}

teleopInit(){
   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){
      shoulder.set(shoulderDocked);
      elbow.set(elbowDocked);
   }
}

[WillNess]

Thank you, I think this should work!

Originally Posted by MrRoboSteve

I think this is closer to what you want. The logic is simpler if you move the timer check into disabledPeriodic(). The result of timer.getFPGATimestamp() is probably not what you want.

bool teleopAfterAutonomous = false;

autonomousInit() {
  teleopAfterAutonomous = true;
}

disabledInit(){
  disabledTimer.Reset();
  disabledTimer.Start();
}

disabledPeriodic(){
  if (disabledTimer.Get() > 1) {
    // If we're disabled for more than one second, assume that we are not in a match
    // Might be necessary to bump 1 above to a somewhat higher value.    
    teleopAfterAutonomous = false;
  }
}

teleopInit(){
   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){
      shoulder.set(shoulderDocked);
      elbow.set(elbowDocked);
   }
}

[WillNess]

Originally Posted by MrRoboSteve

I think this is closer to what you want. The logic is simpler if you move the timer check into disabledPeriodic(). The result of timer.getFPGATimestamp() is probably not what you want.

bool teleopAfterAutonomous = false;

autonomousInit() {
  teleopAfterAutonomous = true;
}

disabledInit(){
  disabledTimer.Reset();
  disabledTimer.Start();
}

disabledPeriodic(){
  if (disabledTimer.Get() > 1) {
    // If we're disabled for more than one second, assume that we are not in a match
    // Might be necessary to bump 1 above to a somewhat higher value.    
    teleopAfterAutonomous = false;
  }
}

teleopInit(){
   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){
      shoulder.set(shoulderDocked);
      elbow.set(elbowDocked);
   }
}

Except during teleopInit() I think I'd have to set the teleopAfterAutonomous = false. Because if I do the practice mode and then I start teleop the teleopAfterAutonomous would be true and then would go to the docked positions so it would look like this: (Correct me if I'm wrong)

teleopInit(){
   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){
      shoulder.set(shoulderDocked);
      elbow.set(elbowDocked);
      teleopAfterAutonomous = false;
   }
}

[GeeTwo]

Originally Posted by WillNess

Except during teleopInit() I think I'd have to set the teleopAfterAutonomous = false. Because if I do the practice mode and then I start teleop the teleopAfterAutonomous would be true and then would go to the docked positions so it would look like this: (Correct me if I'm wrong)

teleopInit(){
   if(teleopAfterAutonomous || DriverStation.getInstance().isFMSAttached()){
      shoulder.set(shoulderDocked);
      elbow.set(elbowDocked);
      teleopAfterAutonomous = false;
   }
}

Only if there's somewhere later in the code (e.g. in teleopPeriodic()) that uses teleopAfterAutonomous. As for what I see here, the variable is not going to be referenced again. That also means that it won't hurt anything...

[MrRoboSteve]

WillNess, I think your change is a good one.

In my code, I assumed that you'd have at least a second of disabled between your practice runs. That delay causes teleopAfterAutonomous to become false. Your change resets things immediately.

[WillNess]

Yes I don't think I'll ever be starting the robot within 1 second of code uploading or rebooting.