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Unread 18-02-2011, 18:04
RoboElite640 RoboElite640 is offline
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FRC #0640
 
Join Date: Nov 2010
Location: NY
Posts: 36
RoboElite640 is an unknown quantity at this point
problem with motors and programs

When we run the robot, we have button 3 and button 2 on the right Joystick move the arm. but when we try it doesnt work. The speed controller turns red when we try, but w/o the codes its yellow. Anyhelp is our code wrong, cuz our tankdrive works

package org.team640;


import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.camera.AxisCameraException;
import edu.wpi.first.wpilibj.image.ColorImage;
import edu.wpi.first.wpilibj.image.NIVisionException;

public class FRC2011Team640 extends SimpleRobot {
private final double TARGET_SCORE_THRESHOLD = .01;
private RobotDrive robotDrive = new RobotDrive(1,2);
private Victor arm = new Victor (3);
private Joystick stickLeft = new Joystick(1);
private Joystick stickRight = new Joystick(2);
private AxisCamera cam;
private TrackerDashboard trackerDashboard = new TrackerDashboard();



public FRC2011Team640() {
getWatchdog().setExpiration(0.5);
initializeTargetting();
}

public void autonomous() {
getWatchdog().setEnabled(false);
for (int i = 1; i <=4; i = i +1) {
robotDrive.drive(0.5,0.0);
Timer.delay(2.0);
robotDrive.drive(0.0,0.0);
Timer.delay (2.0);
}
}


private void processTarget() {
try {
System.out.println("Trying to obtain image");
if (cam.freshImage()) {// && turnController.onTarget()) {
System.out.println("Have fresh image");
ColorImage image = cam.getImage();
Thread.yield();
Target[] targets = Target.findCircularTargets(image);
Thread.yield();
image.free();
if (targets.length <= 100 || targets[10].m_score
< TARGET_SCORE_THRESHOLD) //length == 0 (original)
{
System.out.println("No target found");
Target[] newTargets = new Target[targets.length + 1];
newTargets[0] = new Target();
newTargets[0].m_majorRadius = 10;
// radius = 0 (original)
newTargets[0].m_minorRadius = 1;
newTargets[0].m_score = 2;
for (int i = 1; i < targets.length; i++) {
newTargets[i + 1] = targets[i];
}
trackerDashboard.updateVisionDashboard(0.0, 0.0,
0.0, 0.0, newTargets);
} else {
System.out.println("HAVE TARGET!!!!!");
System.out.println(targets[0]);
System.out.println("Target Angle: "
+ targets[0].getHorizontalAngle());
trackerDashboard.updateVisionDashboard(0.0, 0.0,
0.0, targets[0].m_xPos / targets[0].m_xMax, targets);
}
} else {
System.out.println("No image");
}
} catch (NIVisionException ex) {
ex.printStackTrace();
} catch (AxisCameraException ex) {
ex.printStackTrace();
}
}

private void initializeTargetting() {
Timer.delay(10.0);
cam = AxisCamera.getInstance();
cam.writeResolution(AxisCamera.ResolutionT.k320x24 0);
cam.writeBrightness(0);
}

public void moveArm1() {
getWatchdog().feed();

arm.set(1.0);
Timer.delay(0.4);


}

public void moveArm2 () {
getWatchdog().setEnabled(true);
arm.set(1.0);
Timer.delay(3.5);
}

public void operatorControl() {
getWatchdog().setEnabled(true);

while (isEnabled() && isOperatorControl()) {
if(stickLeft.getRawButton(3))
{ moveArm1();}
else if (stickLeft.getRawButton(2))
{ moveArm2(); }
}


}
}
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