Teleop Limit Switch Firing Sequence

[nickcvet89]

Hey everyone, currently our robot has an arm that when a button is pressed, a sequence of shooting in cocking for next shot occurs. This has worked....... at times, during some of our matches at Mt. Olive District Event, we noticed that if the arm got jammed on a frisbee, it was unable complete this sequence and our robot would not be able to shoot. We would like to know if anyone has a suggestion on improving this code so that it would exit the sequence structure if this would happen. I posted what we currently have. Thanks

[Greg McKaskle]

The way it is written, the first loop will run at full speed until the limit switch is triggered.

You may want to combine the exit condition with a timeout. OR the limit switch and either a loop counter or a time since the loop began. You may also want to throttle the loop by putting a delay in it.

The attached image shows the sort of thing you might do.

Greg McKaskle

[nickcvet89]

Ahh thanks Greg, why should this be done in the first loop and not in the second or should I do this also in the second loop?

[Greg McKaskle]

If I were you, I'd do something similar in the second loop as well. I was just giving an example.

Greg McKaskle

[nickcvet89]

Ohh ok, thanks, will try this in the AM!