Thank you Team80_Giraffes for the link to the thread. The potentiometer in our turntable arm is connected to the shaft of the wheel not the worm. Of course, the wheel turns really slow with great torque to lift the flywheel shooter. Just to clarify on the link that you gave me. PidRequestedValue would be the reading of the potentiometer.correct? 'if( vexRT[ Btn8U ] == 1 ) pidRequestedValue = 1800; else if( vexRT[ Btn8D ] == 1 ) pidRequestedValue = 800;' Can't wait to find out if it works!
Any recommendations from the forum are welcome!! Yes, you switch your buttons to the potentiometer setting you want the arm to move to. And magic ensues. The background task of the 'arm manager' is constantly trying to get your arm/turntable to the selected value. Mini Portable Nero Burning Rom V100.
Your button chooses a new target. Airlink High Power Wireless Usb Adapter Drivers on this page. The next time in the loop, a new error value is found, and then a new motor value to minimize that error is set.
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It then loops around next time and sees how far away it is from the target and decides on a new motor value. It slows down the motor as you get closer.
Just don't have any other code trying to write to that motor or it will fight each other. Once you find the shortcomings of this, we can get you on to PID which shortens the time to get to the selected value and can hold it a bit tighter. But one step at a time.
PID requires a lot of tuning and observations about overshoot and dampening. Let's get the P controller working and you will probably be happy with the results for this year. So, a P controller is actually quite simple once you get the hang of it.
Looking at the code, I don't see anything in particular that could be causing the program to lock up, it seems to be pretty standard but very well-formatted code (which makes the debugging process easier for me, thank you for that). When the program doesn't work, what specifically is it doing/not doing?
Does the robot simply not move, does it stop mid-match, does it run one portion of the program (such as autonomous or tele-op) but not the other? The more detailed information you can provide on this one, the better we'll be be able to debug the issue. Thanks in advance!
Looking at the code, I don't see anything in particular that could be causing the program to lock up, it seems to be pretty standard but very well-formatted code (which makes the debugging process easier for me, thank you for that). When the program doesn't work, what specifically is it doing/not doing? Does the robot simply not move, does it stop mid-match, does it run one portion of the program (such as autonomous or tele-op) but not the other? The more detailed information you can provide on this one, the better we'll be be able to debug the issue.
Thanks in advance! At the the beginning of the match when they start autonomous the robot just flinches and doesn't run the program but then works in driver mode. Which direction is the robot facing with the autonomous portion of the match starts? The only commands being given to the robot are a 1/2 second backwards movement, and a 200 millisecond stop command: SensorValue[SolCE] = 1; motor[port1] = -127; motor[port2] = -127; motor[port9] = -127; motor[port10] = -127; wait1Msec(500); motor[port1] = 0; motor[port2] = 0; motor[port9] = 0; motor[port10] = 0; wait1Msec(200); While this should move the robot backwards for 500 milliseconds, the robot may be running into the field wall instead. Try changing the starting orientation of the robot and increasing the movement time to a larger value (such as one second) to see if this resolves the issue. Also, what do you have the 'Robot ->VEX Cortex Communication Mode' setting set to? You will need to make sure that it is set to 'Competition (VEXNet)' in order for the Competition settings to work properly; once you change this setting, you will need to compile the program to the robot and powercycle the Cortex (turn off and unplug USB cable, then turn it back on) in order for the changes to take affect.