PLEASE HELP! (Autonomous)

FIRST General Forum
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I’m not sure if it’s too much to ask but could someone help me find an example of a simple drive forward autonomous using sensors in java? I’m using vscode. Any and all help is appreciated. Thanks!

2

What kind of motor controller are you using? And where are you drive encoders (assuming that is the sensor you are referring to) plugged in - the RoboRio, or to a motor controller directly?

If you have encoders on the drive train plugged into the RoboRio, you can look at wpilib examples to get started.

https://docs.wpilib.org/en/latest/docs/software/sensors/encoders-software.html

This is the most basic type of “drive forward using a sensor”.

If you’re using a Talon SRX, with drive encoders plugged directly into the data port of the Talon, you can use sample code and instructions from CTRE as a starting point. You can do the same kind of logic as the wpilib example, but look into position closed-loop control modes once you’ve got the hang of the basics.

If it’s a Spark Max, they have similar examples for closed-loop control:

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Assuming you’re using Java, a pseudo-autonomous “bang-bang” could be as follows

@Override
pubic void autonomousInit() {
    sensor.reset(); // Make sure that the sensor is zeroed (if it is something like an encoder)
    timer.reset(); // A timer as a fail safe to not run too long
    timer.start();
}

@Override
public void autonomousPeriodic() {
    if(timer.get() <= 15.0) { // 15 seconds, the length of autonomous
        if(sensor.getDistance() <= targetDistance) { // Some arbitrary distance
            drive.tankDrive(0.5, 0.5); // Move forward at half speed
        } else {
            drive.tankDrive(0.0, 0.0); // Stop when you've gone at least that distance
        } 
}

This code assumes you have a WPILibj Timer and are using the timedRobot class.

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