Changes between Version 24 and Version 25 of ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

Timestamp:

Oct 28, 2019, 11:53:15 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/IntroRobotJava

@@ -205 +205 @@
 {{{ 
   private Encoder leftEncoder, rightEncoder;
+
   // Uncomment next line for Macademia
   // private Talon leftMotor, rightMotor;
@@ -227 +228 @@
     // leftMotor = new WPI_TalonSRX(3);
     // rightMotor = new WPI_TalonSRX(4);
-  }}}
-* In robotPeriodic() read and display the encoder values
-  {{{
-    double l_distance = leftEncoder.getDistance();
-    double r_distance = rightEncoder.getDistance();
-    SmartDashboard.putNumber("Left", l_distance);
-    SmartDashboard.putNumber("Right", r_distance);
+
+    // to go forward, left motor turns clockwise, right motor counter-clockwise
+    rightMotor.setInverted(true);
+  }}}
+
+* In robotPeriodic() display the encoder values
+  {{{
+    SmartDashboard.putNumber("Left", leftEncoder.getDistance());
+    SmartDashboard.putNumber("Right", rightEncoder.getDistance());
   }}}
 
@@ -241 +244 @@
     leftEncoder.reset();
     rightEncoder.reset();
-    // start motors turning at 20% power
+    // start motors turning forward at 20% power
     leftMotor.set(0.20);
     rightMotor.set(0.20);
   }}}
 
-* In autonomousPeriodic() check to see if we've gone the desired distance
-  then stop the motors.
-  {{{
-     if ((leftEncoder.getDistance() > 36.0) ||
-         (rightEncoder.getDistance() > 36.0)) {
-         leftMotor.stopMotor();
-         rightMotor.stopMotor();
-     }
+* In the default section of autonomousPeriodic() stop if we've gone the desired distance.
+  Notice our first use of the logical OR operator: '||'
+  {{{
+      default:
+        if ((leftEncoder.getDistance() > 36.0) || 
+            (rightEncoder.getDistance() > 36.0)) {
+           leftMotor.stopMotor();
+           rightMotor.stopMotor();
+        }
    }}}
+
+When you launch the driver station, you'll need to select "Autonomous" mode (look above the Enable button) and then press the Enable button.  The autonomousInit() method will run first and then the autonomousPeriodic() method will be called repeatedly until the robot is disabled.  If your robot isn't doing what it should be, press the Disable button immediately to stop the robot.
+
+Why didn't the robot go straight?  
+
+Extra credit: See if you can make it go straight.
+
 
 == Study some examples