can someone help me kick a ball?

[mattom1992]

Hello fellow robots Im kind of a rookie when it come to programing in labview and would like some examples of Autonomous code and a kicker program for teleop mode or even a nudge in a good direction

[Vikesrock]

There are many here that would be glad to help you program your robot's kicker but we are going to need more information to be of assistance.

How does your kicker work? Think specifically about the exact process and what you need to control (motors, pneumatics etc.) in what direction and order/timing to complete the kick.

An example for my team's kicker is:

1. Drive CIM motor in reverse to draw back kicker
2. Set Solenoid on Port 1 to fire kicker
3. Wait until "Latched" signal on GPIO 8 goes high
4. Un-Set solenoid on Port 1
5. Drive CIM forward until "Latched" signal on GPIO 8 goes low
6. Drive CIM reverse until kicker reaches "home position"

Steps 1 and 6 are controlled using a magnetic encoder

[mattom1992]

below is a picture of our kicker's code in TeleOp. we are using buttons 1 and 2 to kick and retract the kicker. button 1 will kick the ball, and button 2 will retract the kicker. the buttons are responding as expected, but the kicker is not moving its full motion in either direction.

[Vikesrock]

Is there anything in the false case of those case statements?

[mattom1992]

no, each statement has code for only the true case for each button when pressed.

[Vikesrock]

That code should fully extend or retract the cylinder if only the appropriate button is pressed. If the same thing happens if you tap the button versus holding the button that will verify that the code is correct.

Are you sure the issue is in code and not mechanical?

[mattom1992]

we thought it might be the same thing but we're still beginners so we weren't sure if it was a programing error or a mechanical; what do you think is most likely our problem?

[Vikesrock]

Originally Posted by mattom1992

we thought it might be the same thing but we're still beginners so we weren't sure if it was a programing error or a mechanical; what do you think is most likely our problem?

Without seeing your mechanical setup it is difficult to be sure, but I would lean towards a mechanical issue. Depending on your full pneumatics setup and what the cylinder is pushing against you may either be running out of air causing your working pressure to dip below 60PSI or you may not have enough force to do what you are trying to do even with 60PSI air.

You can verify that the code isn't the problem by unplugging the solenoid from the cRIO and using the manual override to switch it.

[mattom1992]

well thats how we orignaly did it because pneumatics was ready before the program was. i thought it may be the amount of time the signal takes to go threw was to fast but im not sure how to mess with that theory.

[Vikesrock]

Originally Posted by mattom1992

well thats how we orignaly did it because pneumatics was ready before the program was.

So the kicker did go through the full motion with the manual override but doesn't with the software control?

So when you push for example the extend button and that's it the kicker extends partially then stops?

[mattom1992]

yes its a very small motoin and isn't even noticabe if you arent paying attention