We are using command based programming and when we try to run our autonomous it doesn’t work unless we call another subsystem that isn’t related to it. This is only for our function AutoDriveStraight and AutoDriveBack, on the last time we call either one. We have to call an irrelevant subsystem like the Intake System or our Arm to get the last AutoDriveStraight or AutoDriveBack to work. Otherwise it just stops.
Not using PID, reading encoder values, using really simple auto. Code worked last year, similarly, but now we reset the encoders differently because they’ve updated the library and we don’t know if we’re updating the encoders properly
You may want to try resetting the drive subsystem encoders in the end() method of your drive commands as well as in the initialize(). We found that the encoders did not seem to properly reset when we used a new instance of the same drive command unless we also reset them in the end() and thus at the end of the previous execution of the same drive command.
We will try to do it, but it’s really strange because if we call the AutoDriveStraight 4 times we will have the problem just running the last one, it’s skipping the last command and running the next one. Same thing when using the AutoDriveBack().
Example 1:
addSequential(new AutoDriveStraight(5.30));
addSequential(new AutoTurn(90));
addSequential(new AutoDriveStraight(5.6));
addSequential(new AutoTurn(90));
addSequential(new AutoDriveStraight(1.5));
addSequential(new AutoTurn(90));
addSequential(new AutoDriveStraight(0.520)); //Doens't run this command
addSequential(new DeliverCube(),2); // Runs this command