Pneumatics code problems.

Technical C/C++
1

Recently, I have been dealing with newly written pneumatics code not actuating Cylinders for a gear holder and shifters.
This is what I am trying to do

"A" button is pressed > Cylinder extends > "A" button is pressed again > Cylinder retracts

I have tried to use a bool to act as a to swich between True and False when the cylinder extends or retracts, but that didn’t do what I wanted above. Is there any other way of doing this.

Please ignore spelling mistakes in comments in code
If there is any other mistakes in the code that are not related to Pneumatics, feel free to say so.
Robot Code /


#include <iostream>
#include <memory>
#include <string>
#include <IterativeRobot.h>
#include <LiveWindow/LiveWindow.h>
#include <SmartDashboard/SendableChooser.h>
#include <SmartDashboard/SmartDashboard.h>
#include "WPILib.h"
#include "CANTalon.h"

class Robot: public frc::IterativeRobot {
public:
//-------------------------------------------------------//
//    Other Decerations                                  //
//-------------------------------------------------------//
	bool shifter_varable = true;
	bool gear_enabled = false;
//-------------------------------------------------------//
//   Deceration of Objects                               //
//-------------------------------------------------------//
	Joystick *driver;
	Joystick *driverV2;
	Joystick *op;

	CANTalon *drive_right_a, *drive_right_b, *drive_left_a, *drive_left_b;
	CANTalon *intake;
	CANTalon *aggitater;
	CANTalon *shooter;
	CANTalon *climber;

	RobotDrive *drive_base;

	Compressor *compressor;

	DoubleSolenoid *gear;
	DoubleSolenoid *shifter;

	//WIP  \/
	//Encoder *shooter_encoder;

	Robot() {
//-------------------------------------------------------//
//    Asigning Objects to Componints and Electronics     //
//-------------------------------------------------------//
		driver = new Joystick(0);
		op = new Joystick(1);
		driverV2 = new Joystick(2);

		drive_right_a = new CANTalon(8);
		drive_right_b = new CANTalon(9);
		drive_left_a = new CANTalon(1);
		drive_left_b = new CANTalon(2);

		intake = new CANTalon(4);
		shooter = new CANTalon(7);
		climber = new CANTalon(6);
		aggitater = new CANTalon(3);

		drive_base = new RobotDrive(drive_right_a, drive_right_b, drive_left_a, drive_left_b);

		compressor = new Compressor(0);

		gear = new DoubleSolenoid(1, 3);
		shifter = new DoubleSolenoid(2, 4);
	}
	void RobotInit() {
//-------------------------------------------------------//
//                Robot vision Code                      //
//-------------------------------------------------------//
		auto cam = frc::CameraServer::GetInstance();
		cam->StartAutomaticCapture();
//-------------------------------------------------------//
//                Robot Compressor                       //
//-------------------------------------------------------//
		compressor->SetClosedLoopControl(true);
	}

	void AutonomousInit() override {}

	void AutonomousPeriodic() {
		drive_right_a->Set(1.0);
	}

	void TeleopInit() {}

	void TeleopPeriodic() {

		// drive train; (left joystick; y axis; left drive) (right joystick: y axis; right drive)
		drive_base->TankDrive(-driver->GetRawAxis(1), -driver->GetRawAxis(5));
//-------------------------------------------------------//
//                 Drive Remote                          //
//-------------------------------------------------------//

		//shooter; left bumper
		if(driver->GetRawButton(5)) {
			shooter->Set(0.60);
		}else{
			shooter->Set(0.0);
		}

		//intake in; right trigger
		if (driver->GetRawButton(7)) {
			intake->Set(-1.0);
		}else{
			intake->Set(0.0);
		}

		//aggitator; "B" button
		if (driver->GetRawButton(3)){
			aggitater->Set(1.0);
		}else{
			aggitater->Set(0.0);
		}

		//shifters; "A" button
		if (driver->GetRawButton(2)){
			if (shifter_varable==true){
				shifter->Set(DoubleSolenoid::Value::kReverse);
				shifter_varable = false;
			}else{
				shifter->Set(DoubleSolenoid::Value::kForward);
				shifter_varable = true;
			}
		}
		//Gear open close; "Y" button
		if (driver->GetRawButton(4)){
			if (gear_enabled == true){
				gear->Set(DoubleSolenoid::Value::kReverse);
				gear_enabled = false;
			}else{
				gear->Set(DoubleSolenoid::Value::kForward);
				gear_enabled = true;
			}
		}
//-------------------------------------------------------//
//  		       Operator Remote                       //
//-------------------------------------------------------//
		//climber up; right bumper; op
		if (op->GetRawAxis(1)){
			climber->Set(1.0);
		}
	}
private:
};
START_ROBOT_CLASS(Robot);

Sorry for being a long post

Thx.

2

Pneumatics are run through a manifold.
If this ends up being some thing non related to programming, I will reply if it is.

Thx.

3 


bool wasAPressed = false;

// then in in teleopPeriodic...

if (driver->GetRawButton(2)) {
    if (!wasAPressed) {
        wasAPressed = true;
        shifter->Set(shifter->Get() == DoubleSolenoid::Value::kReverse ? DoubleSolenoid::Value::kForward : DoubleSolenoid::Value::kReverse);
    }
} else {
    wasAPressed = false;
}
4

Does the word “Value” in
DoubleSolenoid::Value::kReverse ?
represents the value in the Double Solenoid is pluged into the PCM or something else?
Thx.

5

Never mind what I said. I found out what it means

Thx.

6

The one problem with this code is that when i press the button longer than 1/50th of a second(50 cycles per second the rio reads the code), it hastily switches back and forth between on and off. Is there any way of fixing the problem or do i just need to have extremely fast fingers for that button.

Thx.

7

My code shouldn’t do that. Notice how it sets a flag wasAPressed to make sure it doesn’t continuously run shifting. Make sure wasAPressed is a member variable, not a local variable

8 

bool shifter_varable = true;

//later in teleopPeriodic

if (driver->GetRawButton(2)){
  if (!shifter_varable){
    shifter_varable = true;
    shifter->Set(shifter->Get() == 
DoubleSolenoid::Value::kReverse ?
DoubleSolenoid::Value::kForward :
DoubleSolenoid::Value::kReverse);

}else{
  shifter_varable = false;
  }
}

all tho i did the exact same thing except change the name of the wasAPressed to shifter_varable. It still does the exact same thing as before, going hyper-speed switching back and forth.

9

Ok let me make it a bit more clear:


// File: Robot.cpp

class Robot: public IterativeRobot {
public:
    bool wasAPressed = false; // MEMBER VARIABLE. not local variable
    
    // robotInit, teleopInit, autonomousInit, autonomousPeriodic, etc

    void teleopPeriodic() {
        if (driver->GetRawButton(2)) {
            if (!wasAPressed) {
                wasAPressed = true;
                shifter->Set(shifter->Get() == DoubleSolenoid::Value::kReverse ? DoubleSolenoid::Value::kForward : DoubleSolenoid::Value::kReverse);
            }
        } else {
            wasAPressed = false;
        }
    }
}

Please read: http://www.cplusplus.com/doc/tutorial/classes/ ::rtm::

10 

#includes stuff

class Robot: public frc::IterativeRobot
{
public:

bool shifter_varable = false; //shifter_varable = wasAPressed

DoubleSolenoid *shifter;

// other random decoration of other varables non 
// robotInit, teleopInit, autonomousInit, autonomousPeriodic, etc

 void teleopPeriodic() {

if (driver->GetRawButton(2)){

  if (!shifter_varable){ // shifter_varable = wasAPressed

    shifter_varable = true;

    shifter->Set(shifter->Get() == 

DoubleSolenoid::Value::kReverse ?
DoubleSolenoid::Value::kForward :
DoubleSolenoid::Value::kReverse);

}else{

  shifter_varable = false;

  }
}

I copied your code and replaced wasAPressed to shifter_varable and… it still did the same thing. :yikes: I think the Rio hates me :frowning:

11

The roboRIO is doing exactly what you told it to do. Look closely at your brackets: your code is different from what euhlmann posted. Using correct indentation makes it a lot easier to spot problems like these.