Movement in Autonomous using Timing

Technical NI LabVIEW
1

To make our robot more appealing during presentations, demonstrations and etc, we have decided to incorporate some movement in autonomous, however, we are having some problems with this. We do not have encoders on our wheels, meaning that all autonomous movement is controlled with timing.

I have tested out various different methods of moving the robot during autonomous, but for some reason none of them worked.

Please have a look at the attached screenshot of the code. In blocks 1 and 2, the robot will keep going forward, and not stop until the autonomous period is over. In block 3, the robot will lurch forward and then stop immediately.

The “SIX MOTOR TELEOP” is the custom VI in which all of the drive motors are controlled in. This VI works just fine in Teleop.

Any help would be greatly appreciated.

code problems.JPG
code problems.JPG498×644 40.1 KB



code problems.JPG
code problems.JPG498×644 40.1 KB

2

In blocks 1 & 2 the elapsed time is outside of the loop, so it will only calculate once in the beginning.

In block 3 the safety VIs kick in and tell the motors to stop because you’re not updating their state often enough.

Try a for loop with a wait of 20ms inside that executes 100 times.

3

You better take a look at this:
https://decibel.ni.com/content/docs/DOC-26295