Encoder v.s. Steering

[kamocat]

I'll start with your "bit switch".

This could be more efficient and easier to read by bundling the boolean values into an array and using the function "boolean array to number" (found in the boolean pallette):

What would make it better still is to use the refnum registry (as opposed to allocating and deallocating the channels each time), and to put the whole thing in a subVI:


Also notice the use of the FOR loop and the string array constant make the code smaller and cleaner. If nothing is wired to the N terminal on a FOR loop but you wire an array to it, it will execute for every element in that array.
I added a comment for why the values are inverted. To someone not familiar with the digital sidecar, this would not be obvious.


Are you comfortable with all of this?

[kamocat]

Here's a simple change:
You know you "OperationMode" input for selecting between Autonomous and Teleop?
You could reduce coding errors by changing that to an enumerated variable. (With enumerated variables, the options are selected from a menu instead of being typed in)
For an example of an enumerated variable, look at the "DerivedRobotState" control in Teleop.vi

You could do the same with your "kickposition" input.

Make sure they are typedefs when you save them, and not regular controls. (As typedefs, when you change the functional properties of the control file, all instances of that control are changed accordingly. That means if you add a new option to the enumerated variable, that option will exist in all instances of it as soon as you save the file.)

[QCEliteTeam648]

Thank you!! Our encoder and steering are now working together. Also thank you Kamocat for your suggestions. I'm working on the bit switch as I type but I am a bit confused on the second post. Since I'm new to Labview and programming in general I don't know what you mean by an enumerated value or typedefs.

[kamocat]

The LabVIEW Wiki actually has better information on this than the LabVIEW Help.
enumerated variables: http://labviewwiki.org/Enum
typedefs: http://labviewwiki.org/Typedef

Note that the control must be in a .ctl file to become a typedef. There's two different ways to do that.

Create a new control by going to file menu and selecting "New...". The following dialog will pop up. Select "control" and click OK.


OR

From an existing control, right click on the control, hover over the "advanced" item on the right-click menu, and select "customize".

This will still create a new control, but it will be the control you selected (though you can always delete it and place down something else).

[QCEliteTeam648]

K I'll see if I can do that. Sorry for not posting in a while. Our team has been busy with parades. Just posting to let you know that I am still here and reading replies/suggestions.