The students and I have been banging our head on this one:
Our gyro is working fine during regular operation, but during autonmous mode Get_Gyro_Angle() always returns 0. I've even managed to reduce this down to the fairly minimal code below:
Code:
void User_Autonomous_Code(void)
{
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);
Camera_Handler();
Servo_Track();
printf("%d ",(int)Get_Gyro_Angle());
Generate_Pwms(pwm13,pwm14,pwm15,pwm16);
Putdata(&txdata);
}
}
}
Any ideas on this one? Our current bot really needs the gyro for feedback in auto mode. The camera is working fine.