We are building a robot for an FTC competition and we have kind of hit a road block. We are new to programming and I'm not sure what we are doing wrong. The robot is simple, it has 3 tetrix motors, and 2 servos using 2 motor controllers and 1 servo controller. To run the robot we are using the Logitech "play station" controllers. I want to program it to where one logitech controller drives the robot and the other controls the arm with a claw at the end. The driving controller works just fine, but nothing works on the one that controls the arm. Here is my program, PLEASE give me some advice on what I am doing wrong.

#pragma config(Hubs, S1, HTMotor, HTMotor, none, none)
#pragma config(Hubs, S2, HTServo, none, none, none)
#pragma config(Motor, mtr_S1_C1_1, LeftWheel, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C1_2, RightWheel, tmotorNormal, openLoop, reversed)
#pragma config(Motor, mtr_S1_C2_1, Arm, tmotorNormal, openLoop)
#pragma config(Servo, srvo_S2_C1_1, Rotate, tServoStandard)
#pragma config(Servo, srvo_S2_C1_2, Claw, tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

#include "JoystickDriver.c"

task main()
{
while (true)
{

motor[RightWheel] = joystick.joy1_y1;
motor[LeftWheel] = joystick.joy1_y2;
motor[Arm] = joystick.joy2_y1;

if(joy2Btn(6))
{
servoTarget[Rotate] = 60;
}
if(joy2Btn(8))
{
servoTarget[Rotate] = 180;
}
if(joy2Btn(5))
{
servoTarget[Claw] = 60;
}
if(joy2Btn(7))
{
servoTarget[Claw] = 180;
}
}
}

Why don't you have a "getJoystickSettings(joystick);" in your while loop?

Because we are really new to this, and I really dont know what Im doing. haha. Ill try it out, any other advice?

Is this where you are saying it should go? It compiled just fine but Im not around the bot right now so I cant test it out.


#pragma config(Hubs, S1, HTMotor, HTMotor, none, none)
#pragma config(Hubs, S2, HTServo, none, none, none)
#pragma config(Motor, mtr_S1_C1_1, LeftWheel, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C1_2, RightWheel, tmotorNormal, openLoop, reversed)
#pragma config(Motor, mtr_S1_C2_2, Arm, tmotorNormal, openLoop)
#pragma config(Servo, srvo_S2_C1_1, Rotate, tServoStandard)
#pragma config(Servo, srvo_S2_C1_2, Claw, tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

#include "JoystickDriver.c"

task main()
{
while (true)
getJoystickSettings(joystick);
{

motor[RightWheel] = joystick.joy1_y1;
motor[LeftWheel] = joystick.joy1_y2;
motor[Arm] = joystick.joy2_y1;

if(joy2Btn(4))
{
servo[Rotate] = 60;
}
if(joy2Btn(6))
{
servo[Rotate] = 180;
}
if(joy2Btn(5))
{
servo[Claw] = 60;
}
if(joy2Btn(7))
{
servo[Claw] = 180;
}
}
}

Nope. Below the open curly brace.

colbyshaver10,
If you did not have the "getJoystickSettings(joystick);" line to start with, how did you get the driving controller to work at all?

You don't really need to call getjoysticksettings().

As long as you give the looping task an opportunity to pause (even a wait1MSec(1)) somewhere, it will update itself. The FTC Joystick Driver file has a separate task that calls the function so it can update the front screen display. That call updates the global joystick structure, so, it works just fine without doing anything else...

Are you using the Joystick - Game window to run the program, and do you have "Dual Joysticks" selected? Your code doesn't have any obvious flaws, so my first guess is that it's a procedural or software environment issue.

Right, I forgot about the DisplayTask Our code stops the DisplayTask during initialization so that we can use the full LCD display for debugging, so we need to explicitly call getJoystickSettings() in our loop.