We are trying to use the new IC2 Encoders on both 393 and 269 motors and we are having problems. On the 269 motors we want to us a auto straightening but one of the encoders reads negative and we can not figure out how to make it positive so we can compare encoders. Our second problem is that we can not get the "ArmEncoder" to count to 1500 and stop. It will keep going. Attached is the code (sorry it is long).


#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, in1, R, sensorLineFollower)
#pragma config(Sensor, in2, L, sensorLineFollower)
#pragma config(Sensor, dgtl12, autobutton, sensorTouch)
#pragma config(Sensor, I2C_1, leftIEM, sensorQuadEncoderOnI2CPort, , AutoAssign)
#pragma config(Sensor, I2C_2, rightIEM, sensorQuadEncoderOnI2CPort, , AutoAssign)
#pragma config(Sensor, I2C_3, rightarmIEM, sensorQuadEncoderOnI2CPort, , AutoAssign)
#pragma config(Sensor, I2C_4, , sensorQuadEncoderOnI2CPort, , AutoAssign)
#pragma config(Motor, port1, Armleft, tmotorVex393, openLoop, reversed)
#pragma config(Motor, port2, Leftfront, tmotorVex269, openLoop, reversed, encoder, encoderPort, I2C_1, 1000)
#pragma config(Motor, port3, Leftrear, tmotorVex269, openLoop, reversed)
#pragma config(Motor, port4, Scoopleft, tmotorVex393, openLoop, reversed)
#pragma config(Motor, port7, Scoopright, tmotorVex393, openLoop, encoder, encoderPort, I2C_4, 1000)
#pragma config(Motor, port8, Rightrear, tmotorVex269, openLoop)
#pragma config(Motor, port9, Rightfront, tmotorVex269, openLoop, encoder, encoderPort, I2C_2, 1000)
#pragma config(Motor, port10, Armright, tmotorVex393, openLoop, reversed, encoder, encoderPort, I2C_3, 1000)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

void forward()
{
nMotorEncoder[Rightfront] = 0;
nMotorEncoder[Leftfront] = 0;
while(nMotorEncoder[Leftfront] > -700)
{

motor[Rightfront] = 63;
motor[Rightrear] = 63;
motor[Leftfront] = 63;
motor[Leftrear] = 63;
}

motor[Rightfront] = 0;
motor[Rightrear] = 0;
motor[Leftfront] = 0;
motor[Leftrear] = 0;

}

void backwards ()
{
nMotorEncoder[Rightfront] = 0;
nMotorEncoder[Leftfront] = 0;

while(nMotorEncoder[Leftfront] < 1000)
{
motor[Rightfront] = -63;
motor[Rightrear] = -63;
motor[Leftfront] = -63;
motor[Leftrear] = -63;
}
}
void armup()
{
nMotorEncoder[Armright] = 0;

while(nMotorEncoder[Armright] < 1)
{
motor[Armleft]=63;
motor[Armright]=63;
}
}

void clean()
{
motor[Rightfront] = 0;
motor[Rightrear] = 0;
motor[Leftfront] = 0;
motor[Leftrear] = 0;
}


task main ()
{

forward();

armup();

}

Hi A,
1. Setting the motor as reversed won't reverse the encoder value. Since the encoders are turning in opposite directions (even though both sides may be pushing the robot forwards or are moving the arm in the same direction, one's turning clockwise, the other anticlockwise), one of the encoders' values will be negated. If you zero the encoders before you start the move, you can simply compare the value of one encoder to the negated value of the other encoder.

2. Your arm motors are not stopping because your code never tells them to stop. Try adding the following code at the end of your armup() function, after the while loop.


Cheers,
--Ryan