Hello =) This is our first year using C++ and the WPI Library as opposed to LabView, and it’s been a bit rough getting on our feet. Our current issue is that of the gyro. Modelling off of the example code included, as well as just reading the documentation, you can see what I tried. It seems as if it should work, but it hasn’t. In order to test if I am even getting values I created an autonomous that should run the intake motor according to the values the gyro gives. The wiring is correct (to the extent of my knowledge) with the PWM plugged into the “gyro” plug on the gyro (not temp), with the signal cable facing outwards (I’ve flipped it both ways to see if it makes a difference; it hasn’t), and plugged into the 2nd slot of the analog breakout (which is in module 1 of the cRIO).
In short, the gyro just doesn’t seem to be working, and during the autonomous I created to test it, nothing happens. The wiring seems to be correct, and I was wondering if it could be code? [code below]
#include "WPILib.h"
class RobotDemo : public SimpleRobot
{
Jaguar frontRight; // robot drive system
Jaguar frontLeft;
Jaguar backLeft;
Jaguar backRight;
Jaguar intakeMotor;
Jaguar leftArm;
Jaguar rightArm;
Jaguar shooter;
Joystick driveStick;
Joystick toolStick;
Joystick armStick;
Gyro gyro;
Timer timer;
public:
RobotDemo(void):
frontRight(1), // these must be initialized in the same order
frontLeft(2), // as they are declared above.
backLeft(3),
backRight(4),
intakeMotor(5),
leftArm(6),
rightArm(7),
shooter(10),
driveStick(1),
toolStick(1),
armStick(0),
gyro(1, 2),
timer()
{
frontRight.SetExpiration(0.1);
frontLeft.SetExpiration(0.1);
backLeft.SetExpiration(0.1);
backRight.SetExpiration(0.1);
intakeMotor.SetExpiration(0.1);
leftArm.SetExpiration(0.1);
rightArm.SetExpiration(0.1);
shooter.SetExpiration(0.1);
}
void driveSystems()
{
}
void motorDrive(float speed)//Positive is forward; Negative is backwards
{
frontRight.Set(speed);
frontLeft.Set(-speed);
backLeft.Set(-speed);
backRight.Set(speed);
}
void motorTurn(float speed)//Positive is right; Negative is left
{
frontRight.Set(-speed);
frontLeft.Set(-speed);
backLeft.Set(-speed);
backRight.Set(-speed);
}
void gyroDrive(float speed, float time) //For automouse only! Uses gyro measurements to keep you straight
{
timer.Reset();
timer.Start();
while( timer.Get() < time)
{
if( gyro.GetAngle() > 1 )
{
frontRight.Set( (speed*0.25) );
frontLeft.Set(-speed);
backLeft.Set(-speed);
backRight.Set( (speed*0.25) );
}
else if( gyro.GetAngle() < -1 )
{
frontRight.Set(speed);
frontLeft.Set( (-speed*0.25) );
backLeft.Set( (-speed*0.25) );
backRight.Set(speed);
}
else
{
frontRight.Set(speed);
frontLeft.Set(-speed);
backLeft.Set(-speed);
backRight.Set(speed);
}
}
}
void raiseAndShoot()
{
intakeMotor.Set(0.5);
Wait(0.5);
intakeMotor.Set(0);
leftArm.Set(1.0);
rightArm.Set(1.0);
Wait(2);
leftArm.Set(0);
rightArm.Set(0);
Wait(1);
shooter.Set(-0.6);
Wait(3);
intakeMotor.Set(0.5);
Wait(1.5);
intakeMotor.Set(0);
shooter.Set(0);
}
void Autonomous(void)
{
gyro.Reset();
while (IsAutonomous())
{
if((gyro.GetAngle()) == 0)
{
intakeMotor.Set(0.0);
}
else if((gyro.GetAngle()) > 0)
{
intakeMotor.Set(0.1);
}
else if((gyro.GetAngle()) < 0)
{
intakeMotor.Set(-0.1);
}
else
{
intakeMotor.Set(0.0);
}
}
}
void OperatorControl(void)
{
while (IsOperatorControl())
{
frontRight.Set( - ( driveStick.GetX() ) - ( driveStick.GetY() ) );
frontLeft.Set( - ( driveStick.GetX() ) + ( driveStick.GetY() ) );
backLeft.Set( - ( driveStick.GetX() ) + ( driveStick.GetY() ) );
backRight.Set( - ( driveStick.GetX() ) - ( driveStick.GetY() ) );
leftArm.Set( armStick.GetY() );
rightArm.Set( armStick.GetY() );
if(toolStick.GetRawButton(6))
{
intakeMotor.Set(0.7);
}
else if(toolStick.GetRawButton(8))
{
intakeMotor.Set(-(0.7));
}
else
{
intakeMotor.Set(0.0);
}
if(toolStick.GetRawButton(4))
{
shooter.Set(-1.0);
}
else if(toolStick.GetRawButton(3))
{
shooter.Set(-0.6);
}
else if(toolStick.GetRawButton(1))
{
shooter.Set(-0.3);
}
else
{
shooter.Set(0.0);
}
if(toolStick.GetRawButton(5))
{
leftArm.Set(1.0);
rightArm.Set(1.0);
}
else if(toolStick.GetRawButton(7))
{
leftArm.Set(-1.0);
rightArm.Set(-1.0);
}
else
{
leftArm.Set(0.0);
rightArm.Set(0.0);
}
Wait(0.005); // wait for a motor update time
}
}
/**
* Runs during test mode
*/
void Test() {
}
};
START_ROBOT_CLASS(RobotDemo);
