This is our first year using C++. We’ve used LabView for the last several years, but our programming team finally made the switch for this season.
We’re having an extremely weird issue with our code. We are using a mecanum drive system, and have not had issues until we attempted to add a fifth controller for our manipulator. We are using the RobotDrive class to initialize our first four controllers (using myRobot(1, 2, 3, 4) for init).
I attempted to add a fifth controller using this:
Talon shooter;
shooter = new Talon(6);
Once I deploy the code and reboot, every time I enable the robot (in either Teleop or in Autonomous), all the motors spin in reverse for about a quarter of a second and then disable.
For sake of troubleshooting, I tried removing all drive code and then reinitialize all the controllers manually as Talons. Once I did this, I cannot get the motors to spin at all. When I click Enable, the controllers enable for a split second and then disable. During that split second, I cannot give any value to the controllers, either directly in the code or by joystick input.
Anyone have any ideas?
Here’s my full code:
#include "WPILib.h"
#include <math.h>
/**
* This is a demo program showing the use of the RobotBase class.
* The IterativeRobot class is the base of a robot application that will automatically call your
* Periodic methods for each packet based on the mode.
*/
class RobotDemo : public IterativeRobot
{
double joyX, joyY, joyZ;
//RobotDrive myRobot; // robot drive system
Jaguar LF, LR, RF, RR, talonFive, shooter;
Joystick stick; // only joystick
Gyro fieldOrientation;
public:
RobotDemo():
//myRobot(1, 2, 3, 4), // these must be initialized in the same order
LF(1),
LR(2),
RF(3),
RR(4),
talonFive(5),
shooter(6),
stick(1), // as they are declared above.
fieldOrientation(1)
{
//myRobot.SetExpiration(0.1);
//shooter.SetSafetyEnabled(false);
//shooter.SetExpiration(0.1);
this->SetPeriod(0); //Set update period to sync with robot control packets (20ms nominal)
}
/**
* Robot-wide initialization code should go here.
*
* Use this method for default Robot-wide initialization which will
* be called when the robot is first powered on. It will be called exactly 1 time.
*/
void RobotDemo::RobotInit() {
}
/**
* Initialization code for disabled mode should go here.
*
* Use this method for initialization code which will be called each time
* the robot enters disabled mode.
*/
void RobotDemo::DisabledInit() {
}
/**
* Periodic code for disabled mode should go here.
*
* Use this method for code which will be called periodically at a regular
* rate while the robot is in disabled mode.
*/
void RobotDemo::DisabledPeriodic() {
}
/**
* Initialization code for autonomous mode should go here.
*
* Use this method for initialization code which will be called each time
* the robot enters autonomous mode.
*/
void RobotDemo::AutonomousInit() {
}
/**
* Periodic code for autonomous mode should go here.
*
* Use this method for code which will be called periodically at a regular
* rate while the robot is in autonomous mode.
*/
void RobotDemo::AutonomousPeriodic() {
}
/**
* Initialization code for teleop mode should go here.
*
* Use this method for initialization code which will be called each time
* the robot enters teleop mode.
*/
void RobotDemo::TeleopInit() {
fieldOrientation.Reset();
}
/**
* Periodic code for teleop mode should go here.
*
* Use this method for code which will be called periodically at a regular
* rate while the robot is in teleop mode.
*/
void RobotDemo::TeleopPeriodic() {
//myRobot.ArcadeDr1ive(stick); // drive with arcade style
joyX = pow(stick.GetX(), 3);
joyY = pow(stick.GetY(), 3);
joyZ = pow(stick.GetRawAxis(3), 3);
//myRobot.MecanumDrive_Cartesian(-joyX, -joyY, joyZ, fieldOrientation.GetAngle());
//shooter.SetLeftRightMotorOutputs(pow(stick.GetRawAxis(4), 3), pow(stick.GetRawAxis(5), 3));
LF.SetSpeed(pow(stick.GetRawAxis(5), 3));
LR.SetSpeed(pow(stick.GetRawAxis(5), 3));
RF.SetSpeed(pow(stick.GetRawAxis(5), 3));
RR.SetSpeed(pow(stick.GetRawAxis(5), 3));
talonFive.SetSpeed(pow(stick.GetRawAxis(5), 3));
shooter.SetSpeed(pow(stick.GetRawAxis(5), 3));
}
/**
* Initialization code for test mode should go here.
*
* Use this method for initialization code which will be called each time
* the robot enters test mode.
*/
void RobotDemo::TestInit() {
}
/**
* Periodic code for test mode should go here.
*
* Use this method for code which will be called periodically at a regular
* rate while the robot is in test mode.
*/
void RobotDemo::TestPeriodic() {
}
};
START_ROBOT_CLASS(RobotDemo);
