Older FRC autonomous code

[johncap100]

I have the 2007 FRC bot (along with the 2006, 2005). I am programming using mplab 7.2. I am trying to install an autononmous code. I just want a short code that moves the bot forward a short distance , turns and returns to the original location.
Does anyone have a default workspace that has the autonomous code imbedded, who might be willing to share?
thanks john

[Mark McLeod]

Do you mean the original default code?
Or Kevin Watson's default variation?

Or did you want direction on how to implement autonomous code?

Or were you looking for someone to drop your simple autonomous movements into the default to use as a starting example?

[billbo911]

Originally Posted by johncap100

I have the 2007 FRC bot (along with the 2006, 2005). I am programming using mplab 7.2. I am trying to install an autononmous code. I just want a short code that moves the bot forward a short distance , turns and returns to the original location.
Does anyone have a default workspace that has the autonomous code imbedded, who might be willing to share?
thanks john

I can't offer code from 2007, but I do have our 2008 code. The Autonomous code drives the robot the length of the field, makes a u-turn and drives back toward the starting line. There is a bit more to it than that, but that basic part is there. By the way, it is built on Kevin Watson's framework instead of IFI's. Honestly, Kevin's is way better! PM me and I'll zip it and send it to you.

[efoote868]

Do you want a smart or dumb autonomous (sensors or none?)

If you don't want any sensors, then this should be a pretty straight forward task. If you do want sensors, it'll be a little more complicated.


This is where you should start:
http://kevin.org/frc/

[johncap100]

Hello to Mark

well i have the kevin watson version i think.

and yes i wuold like to know how to drop in the autononmous code and
also create if you cuodl help.
basically on all three.

i do have the default code working so i have the teleop working both tank ans arcade., i would just like to do the autononmous too.
thanks john

[johncap100]

and billbo911 yes if you could zip your code i would like that too if you could
thanks a bunch.
john

[Chris_Elston]

We try and archive all our code here:

http://www.frcsoft.com/forums/index....ocom=downloads

[Mark McLeod]

In the Watson version you drop your autonomous code into the file "autonomous.c", specifically into the routine "Autonomous()".

This routine gets executed ~38 times per second in sync with the driver station control transmission packets.

You write your autonomous code in such a way that it does a little bit and goes away. When it gets called again it does a little bit more and goes away again.

Two ways to dead reckon autonomous movements are:

1. to keep track of and count the number of times you're Autonomous() has been called - 38 times = 1 second.
2. use a system timer and check each time to see if you've driven long enough.

If your code already has a timer setup, then you can experiment with using that. It's the most accurate method.

Counting loops is accurate enough for what you're doing at first, and it's trivial to implement and understand right away, so you can start with that.

On top of these methods of keeping track of time you might want a state machine to keep track of the steps you should be doing.

Here's an example:

// Drive forward, turn, return, and stop
 
void Autonomous()
{
 static int counter=0; //keep track of loops to use as a crude timer - static keeps it around from call to call
 static int autostate=1;   //keep track of what step we're supposed to be doing
 
  switch (autostate)
  {
    case 1:   // Drive forward
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 54;  //motor is reversed
        if (counter>38)  //1 second
        {  
           autostate = 2;  // move on to the next step
           counter = 0;    // reset our timer for the next step
        }
 
    case 2:   // Turnaround
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 200;  //motor is reversed
        if (counter>76)  //2 seconds
        {  
           autostate = 3;
           counter = 0;
        }
 
    case 3:   // Drive forward (returning now)
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 54;  //motor is reversed
        if (counter>38)  //1 second
        {  
           autostate = 4;
           counter = 0;
        }
 
     case 4:   // Stop - What to do when everything else is done
     default:  // also what to do if an invalid autostate occurs
 
       pwm01 = pwm02 = pwm03 = pwm04 = 127;   // Make sure the last thing you do is always stop
  }
  counter++;
}

Our team code from 2007 is here, but it's fairly complex as it implements a scripting system for autonomous, so I definitely wouldn't start learning at that level. Our robot was somewhat complex that year too.

[johncap100]

so after i open up the default workspace then i can open the autonomous.c and edit it there?

i think in the default code there is a place to drop in code but i forget which file i need to open up once the workspace is opened.

i would like to start with the dumb code but actually it would be nice to do some 'smart" code
thanks john

[Mark McLeod]

Originally Posted by johncap100

so after i open up the default workspace then i can open the autonomous.c and edit it there?

Yep.
Do you need instruction in using MPLAB and downloading code using IFI_Loader or do you already know about that or can figure it out?

[johncap100]

no i can open the mplab and can upload from the ifi loader
thanks

[johncap100]

mark i tried the following code from one of my students and it does not seem to work, i will try your code above.

any help is greatly appreciated.

by the way i am opening up the user-routine_fast.c to modify the autonomous code is that correct?
thanks


// Drive forward, turn, return, and stop

void Autonomous()
{
static int counter=0; //keep track of loops to use as a crude timer - static keeps it around from call to call
static int autostate=1; //keep track of what step we're supposed to be doing

switch (autostate)
{
case 1: // Drive forward
pwm01 = pwm02 = 200;
pwm03 = pwm04 = 54; //motor is reversed
if (counter>38) //1 second
{
autostate = 2; // move on to the next step
counter = 0; // reset our timer for the next step
}

case 2: // Turnaround
pwm01 = pwm02 = 200;
pwm03 = pwm04 = 200; //motor is reversed
if (counter>76) //2 seconds
{
autostate = 3;
counter = 0;
}

case 3: // Drive forward (returning now)
pwm01 = pwm02 = 200;
pwm03 = pwm04 = 54; //motor is reversed
if (counter>38) //1 second
{
autostate = 4;
counter = 0;
}

case 4: // Stop - What to do when everything else is done
default: // also what to do if an invalid autostate occurs

pwm01 = pwm02 = pwm03 = pwm04 = 127; // Make sure the last thing you do is always stop
}
counter++;
}

[efoote868]

Did that compile OK?
When you loaded it and ran autonomous, I (hope) the robot just stayed still. Luckily your last state was no movement, because without break statements, it'll run through all the states.

Should be:

switch(variable)
{
case 0:
//do stuff
break;

case 1:
//do other stuff
break;

case 2:
//do some stuff, and case 3's stuff

case 3:
//do something else
break;

default:
//do nothing
break;
}

If you take the default case out in your current setup, you should drive forward forever (which is dangerous, so I suggest you don't).
I also suggest that you disconnect the motors and just watch lights to see if its doing what you want.

[Mark McLeod]

Those are the break;'s
The break statement concludes individual cases. Without it one case statement blends right into the next without a "break".
That is one of the reasons for stopping all motors at the end.

I unfortunately duplicated one block and missed copying the original break statement as part of the block of code.
Sorry about that...

Corrected version:

// Drive forward, turn, return, and stop
 
void Autonomous()
{
 static int counter=0; //keep track of loops to use as a crude timer - static keeps it around from call to call
 static int autostate=1;   //keep track of what step we're supposed to be doing
 
  switch (autostate)
  {
    case 1:   // Drive forward
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 54;  //motor is reversed
        if (counter>38)  //1 second
        {  
           autostate = 2;  // move on to the next step
           counter = 0;    // reset our timer for the next step
        }
        break;
 
    case 2:   // Turnaround
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 200;  //motor is reversed
        if (counter>76)  //2 seconds
        {  
           autostate = 3;
           counter = 0;
        }
        break;

 
    case 3:   // Drive forward (returning now)
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 54;  //motor is reversed
        if (counter>38)  //1 second
        {  
           autostate = 4;
           counter = 0;
        }
        break;

 
     case 4:   // Stop - What to do when everything else is done
     default:  // also what to do if an invalid autostate occurs
 
       pwm01 = pwm02 = pwm03 = pwm04 = 127;   // Make sure the last thing you do is always stop
  }
  counter++;
}

[Mark McLeod]

Originally Posted by johncap100

by the way i am opening up the user-routine_fast.c to modify the autonomous code is that correct?

That means you're using the IFI default code rather than the Watson default code.

You'll need slightly different handling for that just because the framework structure is different. In user_routines_fast.c in the Autonomous() routine already there you'll want to keep some of the default code it uses. Below the lines in black are what you should already see in that default routine, and the lines in red are what need to be added. Really the critical part that's missing is the Getdata that tells the robot when autonomous mode is over and Putdata that sends your motor settings out to be used. Without that nothing would ever happen.

void User_Autonomous_Code(void)
{
 static int counter=0; //keep track of loops to use as a crude timer - static keeps it around from call to call
 static int autostate=1;   //keep track of what step we're supposed to be doing

  /* Initialize all PWMs and Relays when entering Autonomous mode, or else it
     will be stuck with the last values mapped from the joysticks.  Remember, 
     even when Disabled it is reading inputs from the Operator Interface. 
  */
  pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
  pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
  relay1_fwd = relay1_rev = relay2_fwd = relay2_rev = 0;
  relay3_fwd = relay3_rev = relay4_fwd = relay4_rev = 0;
  relay5_fwd = relay5_rev = relay6_fwd = relay6_rev = 0;
  relay7_fwd = relay7_rev = relay8_fwd = relay8_rev = 0;

  while (autonomous_mode)   /* DO NOT CHANGE! */
  {
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {
        Getdata(&rxdata);   /* DO NOT DELETE, or you will be stuck here forever! */
 
        // Drive forward, turn, return, and stop

        switch (autostate)
        {
    case 1:   // Drive forward
       pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 54;  //motor is reversed
       if (counter>38)  //1 second
        {  
           autostate = 2;  // move on to the next step
           counter = 0;    // reset our timer for the next step
        }
        break;
 
    case 2:   // Turnaround
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 200;  //motor is reversed
        if (counter>76)  //2 seconds
        {  
           autostate = 3;
           counter = 0;
        }
        break;

 
    case 3:   // Drive forward (returning now)
        pwm01 = pwm02 = 200;
        pwm03 = pwm04 = 54;  //motor is reversed
        if (counter>38)  //1 second
        {  
           autostate = 4;
           counter = 0;
       }
       break;

 
     case 4:   // Stop - What to do when everything else is done
     default:  // also what to do if an invalid autostate occurs
 
       pwm01 = pwm02 = pwm03 = pwm04 = 127;   // Make sure the last thing you do is always stop
  }
  counter++;

        Generate_Pwms(pwm13,pwm14,pwm15,pwm16);

        Putdata(&txdata);   /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}