Autonomous Timer Issue

[Waz]

Originally Posted by Rocinante

Cool, thank you we will give it a shot.

Also working from fuzzy memory, but I think you will need to call something like isTimedOut() in your isFinished() method and return true or false appropriately. If I recall correctly, setting a timeout does not mean the command will automatically be stopped.

Hope this helps,
Steve

[Rocinante]

Here is our code as of bagging up the robot. We cannot get it to move to the next steps of ArmDown, Turn. and Shoot. It just keep driving forward. If we switch code around whatever is in the top slot just keeps going on and on. So we are attaching to the code however the code does not seem to attach to a timer. So trying to attach a timer.

Public classAutonomous extends CommandGroup

public static double getFPGATimestamp() {
return 0;
}

public Autonomous() {
requires(Robot.drivetrain);
requires(Robot.robotshooter);
requires(Robot.armstart);

addSequential(new DriveForward(3.0));
addParallel(new ArmDown());
addSequential(new Turn(2.0));
addSequential(new Shoot(2.0));

[pblankenbaker]

I did not see the source for your DriveForward command. I'm guessing it should look something like the following:

public class DriveForward extends Command {
	
	private double timeToRun;

	public DriveForward(double timeout) {
		requires(Robot.drivetrain);
		timeToRun = timeout;
	}

	@Override
	protected void initialize() {
	}

	@Override
	protected void execute() {
		// Change to method to apply power to your drivetrain
		drivetrain.setPower(0.4, 0.4);
	}

	@Override
	protected boolean isFinished() {
		return (timeSinceInitialized() >= timeout);
	}

	@Override
	protected void end() {
		// Don't forget to stop
		drivetrain.setPower(0, 0);
	}

	@Override
	protected void interrupted() {
		end();
	}
}

Is it possible that your isFinished() implementation was not checking that enough time had elapsed? If your isFinished() never returns true and you don't set a time out to interrupt your DriveCommand, the command will never stop and your robot will just keep going forward (which sounds like the condition you were describing).

Also, don't forget to stop the motors in your end() and interrupted() methods - unless you want the robot to continue to move even after the command terminates.

[Rocinante]

So you are putting the timer in the Drive Forward code not the Autonomous code. I have seen several ways. I think I like this one best. I will give it a shot. Thank you very much.