Autonomous Mode

[Alan Anderson]

There are a lot of while statements in that code that don't look at all right to me. For example,

while (PAN_SERVO > 130) 
  {
    pwm01 = 147;
    pwm02 = 147;
    pwm03 = 147;
    pwm04 = 147;
  }

looks like it will get stuck forever if the PAN_SERVO is greater than 130. Nothing is done inside the loop to let the value of PAN_SERVO change. Take a look at your RC and see if the CODE ERROR light is turning red when you try to run your autonomous routine.

And then try changing those while statments into if statements, which is what it looks like they really ought to be.

[code_lacky]

just a hint. Try to stay away from while loops as previously mentioned. They mess with your code because othe essential functions are not able to be called when your code is in a while loop.

[Bomberofdoom]

Ifs and Elses are the key in FRC.

[pheadxdll]

Don't forget to copy over all the includes at the top of user_routines dealing with the camera. IE tracking.h. You can just copy all the includes from user_routines to user_routines_fast if you wish.

[Zero_Cool]

don't forget the switch statement, which can be more useful or better for use in autonomous.

[kaszeta]

Originally Posted by Zero_Cool

don't forget the switch statement, which can be more useful or better for use in autonomous.

Indeed, it's very useful for programmers doing autonomous work to understand the concept of the finite state machine (http://en.wikipedia.org/wiki/Finite_state_machine), since that is one of the easiest ways to come up with a clearly written and debug-able autonomous routine.

Most of our routines end up looking something like:

switch (auto_state) {
	case INITIALIZE:
	  Auto_Initialize(); // Set up auto mode
          auto_state=FASTASPPROACH
	  break;
       case APPROACH: 
          // Code that drives towards goals quickly, and at some point
          // resets auto_state to SCORE
          break;
       case SCORE: 
          // Score many points!
	  break;  
	case DONE:
	default:
        // do nothing!
        
      break;
  }

[Ryan O]

Yeah, definately don't do loops in autonomous. The while loop in the default code provides the repeat. Just use if-elses to get one thing done before the next happens. That eliminates the possiblility of running into an error becuase the code takes too long to execute and fills the buffer. That would stop the bot cold for the entire match. (Beleive me, I've done it

[dpick1055]

Could someone please explain how to "switch" into autonomous mode without using a dongle. I want to test my autonomous code but haven't had time to make a dongle yet. Thanks

[d.courtney]

Originally Posted by dpick1055

Could someone please explain how to "switch" into autonomous mode without using a dongle. I want to test my autonomous code but haven't had time to make a dongle yet. Thanks

Tether to your OI and make the Team number 0000.

[dpick1055]

Thanks.

[Astronouth7303]

Originally Posted by dpick1055

Could someone please explain how to "switch" into autonomous mode without using a dongle. I want to test my autonomous code but haven't had time to make a dongle yet. Thanks

You really should use a dongle. They're easy to make, and you can't forget to change anything back before you go to a match. (I'd hate to be plugged into the field and the IFI guy coming up and saying, "You're team number isn't set.")

If everyone on your team is deathly afraid of soldering, you can buy a dongle from AndyMark.

[kaszeta]

Originally Posted by dpick1055

Could someone please explain how to "switch" into autonomous mode without using a dongle. I want to test my autonomous code but haven't had time to make a dongle yet. Thanks

It's pretty easy:

1. Make dongle.
2. Use dongle.

Seriously, you really, really, should have a dongle with a disable switch handy when you test autonomous mode. 1 trip to Radio Shack and a half hour with a soldering iron is all it takes.