Loop in autonomous carries on into teleop and stops anything from working?

Technical Java
1

I have teleop working fine when its enabled first, but (My autonomous code is not working yet but thats a separate issue) after enabling autonomous, neither it nor teleop works at all. Also, we have a do while loop set up in autonomous that doesn’t actually stop when turned to teleop. Is this a driver station bug or maybe is it the fact I dont have watchdog enabled? Any suggestions?

   public void autonomousPeriodic(){
        int x = 1;
        do{    
            gyro.reset();

            int i=0;
            while(i<4){    
                drivetrain.drive(0.5,0.0); //START GOING STRAIGHT
                Timer.delay(4.0);
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(4.0);
                gyro.reset();
                double angle = 0;
                do {
                    drivetrain.drive(0.0, 0.15); //TURN 
                    Timer.delay(0.5);
                    angle += gyro.getAngle(); //
                    gyro.reset();
                    log("Gyro reads "+angle);
                }while(angle<90); //Keep going in increments of .15 until gyro returns more than 90 degrees
                drivetrain.drive(0.0,0.0); //STOP
                Timer.delay(4.0);
                i++;
            }
        }while(x>0);
    }

That’s our autonomous.

2

This is occurring because you enter the do while loop and never reset x to a value less that 0, meaning the code continuously runs through this loop.

3

Funny, we fixed that, and still have the error with our very simple fix.
This does the same thing.

timer.start();
do{
drivetrain.drive(0.5,0.0);
}while(timer.get()<4);

And yes, we did initialize the timer.

4

Do this instead:


while (isAutonomous() && isEnabled()) {
    // Autonomous code
}
5

do{
drivetrain.drive(0.5,0.0);
}while(timer.get()<4 && isAutonomous());

6

I would suggest doing it the way Neal has wrote it. You can always have if statement or switch statement handling the time base options.

7

Thanks for the replies guys. What I found out was that the iterative robot class is a completely different concept than simplerobot. I was mistaken in thinking it was just more features.

8