Moving bot once targeted on the light

[abrockhoff]

make sure that there is no other drive code in that is setting your motors to joystick inputs later on in the code. you would have to comment those out.


just to make sure you realize this code will drive forward until the camera loses sight of the target. just don't want you to smash into anyone. :-D

[Idaman323]

Question.

This code goes into the user_routines.c file of the workspace. Does this go into the same section where the mapping of the pwm's to the joysticks go? And if so, dont you just fix the problem by setting the pwms from the camera imput, AFTER the pwm mapping of the joysticks? Or is it more complicated than this? We are stuck on this same issue.

[ace123]

Try something other than 255... I believe 255 is a special value.

Try like 180, which is in the middle, way out of the deadband and not the maximum

Or, you could try 250, and see if the Victor light becomes red

(FYI: The Victor light is the most accurate source if you are stuck with a PWM value problem... that one light tells you a lot of info. If it is flashing orange, it's a 3-pin PWM cable problem, or it's set to a special value that disables it (like if your robot is detached). If it's completely off once you run the code, the motors are running slowly or half-speed. If it's solid orange, they are inside the deadband or completely stopped. If it's bright red or green, it's running full power in forward or reverse.)

[pheadxdll]

I found that CAMERA_ON_TARGET state goes on and off too much to do any good. I've tried this state and it works realiby:

if( Get_Tracking_State() == SEARCHING)
{
    pwm10 = pwm08 = 127;
}
else
{
    pwm10 = pwm08 = 135; // 135 is nothing unless its a really geared down motor :)
}

The SEARCHING state works great and I was able to keep a spike on with relay output.