So I have put Compressor on the back burner while we wire up and work with the encoders and now I get the same exact thing with them as I was getting with the Compressor. I am posting my code, can someone help me figure out what I am doing wrong. I imagine its to do with code or not activating something properly, but I am willing to try other things if you got ideas.
#include <iostream.h>
#include "WPILib.h"
#include <taskLib.h>
#include "DashboardDataFormat.h"
/**
* This is a demo program showing the use of the IterativeRobot base class.
*
* The IterativeRobot class is the base of a robot application that uses similar control
* flow to that used in the FRC default code in prior years.
*
* This robot provides identically the same external behavior as the SimpleRobot demo program.
*
* This code assumes the following connections:
* Driver Station:
* Joystick 1 - The "right" joystick. Used for either "arcade drive" or "right" stick for tank drive
* Joystick 2 - The "left" joystick. Used as the "left" stick for tank drive
*/
class IterativeDemo : public IterativeRobot
{
// Declare variable for the robot drive system
RobotDrive *myRobot; // robot will use PWM 1-4 for drive motors
// Declare a variable to use to access the driver station object
DriverStation *ds; // driver station object
DriverStationLCD *dsLCD; //driver station LCD update
// Declare variables for up to three joysticks being used
Joystick *rightStick; // joystick 1 (arcade stick or right tank stick)
Joystick *leftStick; // joystick 2 (tank left stick)
//Encoder setup
Encoder *leftencoder;
Encoder *rightencoder;
//Compressor
//Compressor *cpress;
// Local variables to count the number of periodic loops performed
int auto_periodic_loops;
int disabled_periodic_loops;
int tele_periodic_loops;
int dash_periodic_loops;
public:
/**
* Constructor for this "IterativeRobotDemo" Class.
* Create an instance of a RobotDrive with left and right motors plugged into PWM
* ports 0 and 1 on the first digital module.
*/
IterativeDemo(void) {
cout << "IterativeDemo Constructor Started
";
// Create a robot using standard right/left robot drive on PWMS 1, 2, 3, and #4
myRobot = new RobotDrive(1, 3, 2, 4);
// Define joysticks being used at USB port #1 and USB port #2 on the Drivers Station
rightStick = new Joystick(2);
leftStick = new Joystick(1);
// Acquire the Driver Station object
ds = DriverStation::GetInstance();
dsLCD = DriverStationLCD::GetInstance();
// Counters to record the number of loops completed in autonomous and teleop modes
auto_periodic_loops = 0;
disabled_periodic_loops = 0;
tele_periodic_loops = 0;
//Compressor Instance
//cpress = new Compressor(3,1); //Input DIO Port 1, Relay 1
//cpress->Start(); //Start compressor
//Encoder Instances
leftencoder = new Encoder(9,10,true,Encoder::k4X);
rightencoder = new Encoder(11,12,true,Encoder::k4X);
cout << "RobotDemo Constructor Completed
";
}
/********************************** Init Routines *************************************/
void DisabledInit(void) {
disabled_periodic_loops = 0; // Reset the loop counter for disabled mode
}
void AutonomousInit(void) {
auto_periodic_loops = 0; // Reset the loop counter for autonomous mode
}
void TeleopInit(void) {
tele_periodic_loops = 0; // Reset the loop counter for teleop mode
dash_periodic_loops = 0;
}
/********************************** Periodic Routines *************************************/
void DisabledPeriodic(void) {
// feed the user watchdog at every period when disabled
GetWatchdog().Feed();
// increment the number of disabled periodic loops completed
disabled_periodic_loops++;
}
void AutonomousPeriodic(void) {
// feed the user watchdog at every period when in autonomous
GetWatchdog().Feed();
auto_periodic_loops++;
if (auto_periodic_loops == 1) {
// When on the first periodic loop in autonomous mode, start driving forwards at half speed
myRobot->Drive(0.5, 0.0); // drive forwards at half speed
}
if (auto_periodic_loops == 200) {
// After 200 loops (2 seconds given 10ms loops), stop the robot
myRobot->Drive(0.0, 0.0); // stop robot
}
}
void TeleopPeriodic(void) {
// feed the user watchdog at every period when in autonomous
GetWatchdog().Feed();
// increment the number of teleop periodic loops completed
tele_periodic_loops++;
dash_periodic_loops++;
// determine if tank or arcade mode; default with no jumper is for tank drive
myRobot->TankDrive(leftStick, rightStick); // drive with tank style
//Dashboard update
if (dash_periodic_loops >= 20) {
sendIOPortData();
dsLCD->Printf(DriverStationLCD::kMain_Line6,1,"Code 6:");
dsLCD->Printf(DriverStationLCD::kUser_Line2,1,"Left encoder: %d",leftencoder->Get());
dsLCD->Printf(DriverStationLCD::kUser_Line3,1,"Right encoder: %d",rightencoder->Get());
dsLCD->UpdateLCD();
dash_periodic_loops = 0;
}
}
/********************************** Continuous Routines *************************************/
/*
* These routines are not used in the imitation of the SimpleDemo robot
*
*
void DisabledContinuous(void) {
}
void AutonomousContinuous(void) {
}
void TeleopContinuous(void) {
}
*/
};
START_ROBOT_CLASS(IterativeDemo);
I can’t see anything wrong with the code, but I don’t know what else to do. If I comment out the encoder code and the compressor code it works fine. Anyone know what’s going on? Am I doing pointers or something wrong?
Like I said we hadn’t gone through the code yet and seen what our errors might be. Once we dug into the encoder header it became pretty obvious what to do. They give us numbers now when we call the Get() method. In the WPI User’s manual they don’t mention anything beyond setting them up. I guess they leave the using them up to the user. Not sure what we’ll do with them yet but having the number there to deal with was the important bit right now.