Traction Control- Help!!!!

[naruto137]

Traction Control- Help!!!!:

(PLEASE NOTE THAT THE SCREENSHOTS OF MY CODE THAT SHOULD BE IN THIS POST ARE ACTUALLY IN A WORD DOCUMENT WHICH CAN BE FOUND IN THIS LINK)

So this was my attempt at traction control. We figured that the pre-created arcade drive was a good idea to use and so I copied and pasted the contents of arcade drive into a new vi and the motors drive which was inside arcade drive into another subvi and replaced the original motors drive vi inside of the newly created arcade drive with the newly created motors drive. However, before I even made any modifications for traction control, it gives me this error that occurs inside of the new motors drive:

Modified Arcade Drive:


Modified Motor Drive (Inside of modified arcade drive):


The device reference from the begin vi is the same as the original device reference for arcade drive. However, it gives me this error:



So right now, this doesn’t even work.

Nevertheless, we still proceeded to work on our traction control by modifying arcade drive (since we thought that preserving all the already done work in arcade drive would be worth it) and tried to add the P part of PID into it using encoders.

In the modified arcade drive we have:


And inside of the motors drive:


where the current speed of the robot is being subtracted by the m/s being pulled from the encoder and then multiplied by 10 to make the change more noticeable.

So my question is
1) is this even a good way to implement traction control
2) if it is, how do we fix this error???
3) If it is not, what is the best way to implement traction control???????????


Thanks everyone in advance!