We are using a spike relay to control a spinbrush in the front of the robot to sweep in balls. I created a new spike relay object and used the left trigger to get it to move. However, every time I hit the trigger, the ENTIRE robot jerks forward and then becomes unresponsive until I disable and renable teleop. And when i say jerk froward, I mean that the CIM motos, which are connected to our 4 jaguars, move and the spin brush moves too, albeit for a short period of time. Is there some issue in the code that could cause this to happen?
Code:
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Relay;
public class Test extends IterativeRobot {
Joystick leftStick;
Joystick rightStick;
RobotDrive robot;
Relay spike;
double leftValue, rightValue;
public void robotInit() {
leftStick = new Joystick(1);
rightStick = new Joystick(2);
robot = new RobotDrive(1,2,3,4);
spike = new Relay(5);
}
public void disabledPeriodic(){
}
public void autonomousPeriodic() {
}
public void teleopPeriodic() {
//robot.setSafetyEnabled(false);
robot.tankDrive(leftStick.getY(),rightStick.getY());
//robot.tankDrive(leftValue, rightValue);
//spike.set(Relay.Value.kForward);
if(leftStick.getRawButton(1)){
spike.set(Relay.Value.kForward);
}
}
Also, I am plugging in the relay to the relay port of the sidecar. We are just using 5 here because we tried switching between different relay port numbers.