You’re not looping. The way it’s set up, The Operator Control method is being run and stopped because there is no loop. That’s why it isn’t responding.
When you set your shooter and drive train and gatherer, put all of those in a
Yes, because your code runs once, you need it to loop around constantly looking at the updated values of the joysticks like I posted above. Your operatorControl method should look like this (additions in bold):
/**
* This function is called once each time the robot enters operator control.
*/
public void operatorControl() {
**while(isOperatorControl() && isEnabled())
{**
robotDrive.tankDrive(stickDriverLeft.getAxis(AxisT ype.kY), stickDriverRight.getAxis(AxisType.kY));
if(stickDriverRight.getRawButton(TRIGGER_NUMBER)) {
shooter.set(1);
}
else {
shooter.set(0);
}
if(stickDriverRight.getRawButton(GATHER_START_BUTT ON)) {
gatherer.set(1);
}
else if(stickDriverRight.getRawButton(GATHER_STOP_BUTTO N)) {
gatherer.set(0);
}
**Timer.delay(.01);**
**}**
}
You will also need to add an import:
import edu.wpi.first.wpilibj.Timer;
Seeing as our team programs in LabVIEW, I can’t say I am an expert on FIRST Java programming. 3 things I see.
1: You are initializing your objects in the class and not in a constructor. It’s perfectly possible that that’s fine, but I would think that would be done in a constructor.
2: You have 2 custom classes (Shooter and Gatherer) could the code hang there?
3: In the if elseif blocks, it looks like you have some spaces in the variable names. I would imagine this would prevent it from building in the first place, but this could be the source of your issue.
Also, I know in LabVIEW there are vis for writing to the Driver station text box. This could be useful for debugging purposes if you could find the corresponding java functions. Another thing to check is to ensure that each joystick is connected to the right usb port. This can be done by going to the setup tab and pressing a button on each joystick and see which element of the list on the right lights up. If they are mislabeled, you can click and drag to change the order. Just some thoughts. Hope it helps!
Can you post the new code? When you do, highlight it and click the # symbol above the box you pasted the code into (whatever you want to call it). This will preserve your spacing.
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.*;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SimpleRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Team1605 extends SimpleRobot {
Joystick stickDriverLeft = new Joystick(1);
Joystick stickDriverRight = new Joystick(2);
Jaguar leftMotor = new Jaguar(2);
Jaguar rightMotor = new Jaguar(1);
Jaguar shooterMotor1 = new Jaguar(3);
Jaguar shooterMotor2 = new Jaguar(4);
Jaguar gatherMotor1 = new Jaguar(5);
Jaguar gatherMotor2 = new Jaguar (6);
RobotDrive robotDrive = new RobotDrive(leftMotor,rightMotor);
Shooter shooter = new Shooter(shooterMotor1,shooterMotor2);
Gatherer gatherer = new Gatherer(gatherMotor1, gatherMotor2);
final int TRIGGER_NUMBER = 1;
final int GATHER_START_BUTTON = 2;
final int GATHER_STOP_BUTTON = 3;
/**
* This function is called once each time the robot enters autonomous mode.
*/
public void autonomous() {
}
/**
* This function is called once each time the robot enters operator control.
*/
public void OperatorControl() {
while(isOperatorControl() && isEnabled())
{
robotDrive.tankDrive(stickDriverLeft.getAxis(AxisType.kY), stickDriverRight.getAxis(AxisType.kY));
if(stickDriverRight.getRawButton(TRIGGER_NUMBER)) {
shooter.set(1);
}
else {
shooter.set(0);
}
if(stickDriverRight.getRawButton(GATHER_START_BUTTON)) {
gatherer.set(1);
}
else if(stickDriverRight.getRawButton(GATHER_STOP_BUTTON)) {
gatherer.set(0);
}
Timer.delay(.01);
}
}
}
that is the code the problem is now that it works but only one wheel will spin and none of the buttons will work
When you are creating your objects, you create “gatherer” and “shooter” objects from classes named the same. Did you create a “Gatherer” class and a “Shooter” class? If not, the poor compiler has no idea what a “Shooter” or “Gatherer” is.
If you did make those classes somewhere else, can we see the code for those as well?
Instead of using a while loop for your entire code, you could try using “iterative robot”. You can do this by clicking the “new project” icon in the top left-ish area (it looks like a cardboard box). Then click “FRC Java” entry in the left pane, and the “IterativeRobotTemplateProject” in the right hand pane. Click “Next”. The next step should have 5 text fields you can edit. I recommend editing the top, which is the Project Name. I leave the rest alone. Click finish.
It’s pretty much the same thing as using the simple robot project, and a while loop, however with iterative robot, your “RobotTemplate” class is looped at a speed which is controlled by the robot. It loops at about 20 times per second if i remember correctly.
This is what robot template should look like:
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.IterativeRobot;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class RobotTemplate extends IterativeRobot {
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
}
}
At this point I would make separate classes for your teleoperated, and your autonomous code, and call them under the “teleopPeriodic()” and the “autonomousPeriodic()” methods respectively.
To make a new class you would have to add a new file to the project. Then you would have to write the code for the constructors and various methods in the class
for example:
public class Gatherer
{
//this is the constructor
public void Gatherer (Jaguar jag1, Jaguar jag2)
{
//code to set values to instance variables and create objects for use in this class
}
//these methods can be called to do stuff
public void set(double thisSpeed)
{
//code to sets jags to run at thisSpeed go here
}
However, based on your code, I would only have one class, and gatherer and shooter would both be objects of that one class.
public class MotorPair
{
//these are instance variables
Jaguar jaguar1, jaguar2;
boolean isRunnung = false;
//this is the constructor
public void MotorPair (Jaguar jag1, Jaguar jag2)
{
/* jaguar1 = jag1;
jaguar2 = jag2;*/
}
//these methods can be called to do stuff
public void run()
{
jaguar1.set(1);
jaguar2.set(1);
isRunning = true;
}
public void stop()
{
jaguar1.set(0);
jaguar2.set(0);
isRunning = false;
}
public void toggle()
{
if (isRunning)
{
stop();
}
else
{
run();
}
}
}