Autonomous mode help

[whodatbat]

try this
RobotDemo() { GetWatchdog().SetEnabled(false); }
Example 4: Disabling the watchdog timer
Now the autonomous part of the program can be constructed that drives in a square pattern: void Autonomous() { for (int i = 0; i < 4; i++) { drivetrain.Drive(0.5, 0.0); // drive 50% of full forward with 0% turn Wait(2.0); // wait 2 seconds drivetrain.Drive(0.0, 0.75); // drive 0% forward and 75% turn } Drivetrain.Drive(0.0, 0.0); // drive 0% forward, 0% turn (stop) }
Example 5: Autonomous program that drives in a square pattern
Now look at the operator control part of the program: void OperatorControl() { while (1) // loop forever { drivetrain.TankDrive(leftStick, rightStick);// drive with the joysticks Wait(0.005); } }
Example 6: Simple tank drive with two joysticks
Putting it all together we get this very short program that accomplishes some autonomous task and provides operator control tank steering:
#include “WPILib.h” class RobotDemo : public SimpleRobot { RobotDrive drivetrain(1, 2); Joystick leftStick(1); Joystick rightStick(2); public: RobotDemo() { GetWatchdog().SetEnabled(false); } void Autonomous() { for (int i = 0; i < 4; i++) { drivetrain.Drive(0.5, 0.0); // drive 50% forward, 0% turn Wait(2.0); // wait 2 seconds drivetrain.Drive(0.0, 0.75); // drive 0% forward and 75% turn Wait(0.75); // turn for almost a second } drivetrain.Drive(0.0, 0.0); // stop the robot } void OperatorControl() { while (1) // loop forever { drivetrain.Tank(leftStick, rightStick); // drive with the joystick Wait(0.005); } } };
Example 7: Completed example program
Although this program will work perfectly with the robot as described, there were some details that were skipped:
 In the example drivetrain,leftStick and rightStick are member objects of the RobotDemo class. They were accessed using references, one of the ways of accessing object members. In the next section pointers will be introduced as an alternate technique.
 The drivetrain.Drive() method takes two parameters, a speed and a turn direction. See the documentation about the RobotDrive object for details on how that speed and direction really work.
 The Watchdog timer was disabled – in general a bad idea! You should enable the watchdog timer, set the feeding interval, and be sure to “Feed” it at least that often.