I have vex with 2 shaft encoders on 2 wheels.
I am trying to programe it to drive in a straight line, because now it has a slight drift to the right.
If some one could give me some code on how to do this, that would help alot.

also how would you make a bump sensor an intorupt so any were in your code if you hit that swich then the program stops.

wat i did for my bot was just configure the motor power until it runs in a straight line and not use the shaft encoders

the problem with that is if your batterys gets low then you have to reconfigure and that get very time consuming some times. i figured it out
if you have two shaft encoders then you do 3 if statments like this.

if(sensorvalue(R_left) == sensorvalue(R_right)// going straight
{
motor[Motor_L] = 50;// ajust these ratios depending on how fast you
motor[Motor_R] = 50;//want to go 80 is about as fast as you can go without gearing
}

if(sensorvalue(R_left) > sensorvalue(R_right)//driffting to the right
{
motor[Motor_L] = 50;
motor[Motor_R] = 55;
}

if(sensorvalue(R_left) < sensorvalue(R_right)// drifting to the left
{
motor[Motor_L] = 55;
motor[Motor_R] = 50;
}

and thats it


if you want to put it in a sub routine to go a cirtan distance

void DriveStraight (int distance)
{
while(sensorvalue(R_left) != 7 /*change this value depending on what the diamitor of you whelle is mine was 5" this is the number of ticks per inch. you figure the cercoumfrence and divide it by 100. that gives you your ticks per inch*/ *distance)
{
if(sensorvalue(R_left) == sensorvalue(R_right)// going straight
{
motor[Motor_L] = 50;// ajust these ratios depending on how fast you
motor[Motor_R] = 50;//want to go 80 is about as fast as you can go without gearing
}

if(sensorvalue(R_left) > sensorvalue(R_right)//driffting to the right
{
motor[Motor_L] = 50;
motor[Motor_R] = 55;
}

if(sensorvalue(R_left) < sensorvalue(R_right)// drifting to the left
{
motor[Motor_L] = 55;
motor[Motor_R] = 50;
}
}
}

and your done

and if you need help with turning email me at core2extremist2@gmail.com

perhaps you shoud use "else if" statements instead of three "if"'s

that might work but that was something i threw together insted of a PID