View unanswered posts | View active topics It is currently Sun Feb 19, 2017 12:47 pm

Reply to topic  [ 2 posts ] 
Crash after adding include directory 
Author Message

Joined: Sun Nov 11, 2012 6:21 pm
Posts: 5
Post Crash after adding include directory
After reinstalling everything, I still have the same problem: I was using 3.51 when the crashes started happening, and then upgraded to 3.54, but that didn't fix anything.

I have some custom headers I'm including, and when I update the include directories to point to them, my code compiles fine. But when I close the window, I get an "exception thrown in destructor" warning:

And then the next time I start RobotC it crashes ("has stopped working").

This is the start of my code:
#pragma config(Hubs,  S1, HTServo,  HTMotor,  HTMotor,  none)
#pragma config(Sensor, S2,     infrared,       sensorHiTechnicIRSeeker1200)
#pragma config(Sensor, S3,     weight,         sensorHiTechnicTouchMux)
#pragma config(Sensor, S4,     touch,          sensorTouch)
#pragma config(Motor,  motorA,          motor_A,       tmotorNXT, openLoop)
#pragma config(Motor,  motorB,          motor_B,       tmotorNXT, openLoop)
#pragma config(Motor,  motorC,          motor_C,       tmotorNXT, openLoop)
#pragma config(Motor,  mtr_S1_C2_1,     motor_L,       tmotorTetrix, PIDControl, reversed, encoder)
#pragma config(Motor,  mtr_S1_C2_2,     motor_R,       tmotorTetrix, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C3_1,     motor_lift,    tmotorTetrix, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C3_2,     motor_G,       tmotorTetrix, openLoop)
#pragma config(Servo,  srvo_S1_C1_1,    servo_IR,             tServoStandard)
#pragma config(Servo,  srvo_S1_C1_2,    servo_claw,           tServoStandard)
#pragma config(Servo,  srvo_S1_C1_3,    servo_ramp,           tServoStandard)
#pragma config(Servo,  srvo_S1_C1_4,    servo4,               tServoNone)
#pragma config(Servo,  srvo_S1_C1_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C1_6,    servo6,               tServoNone)
// Code generated by the 'ROBOTC' configuration wizard.
#include "JoystickDriver.c"
#include "hitechnic-irseeker-v2.h"
#include "typedefs.h"
#include "global vars.h"
#include "enums.h"
#include "structs.h"
#include "low-level functions.h"
#include "high-level functions.h"
#include "subroutines.h"

And this is my directory structure:

The platform I'm using is NXT/TETRIX, and I'm running 64-bit Vista SP2 with 6GB of RAM (<- does that even matter? :P). Our first competition is in less than a week, so I would appreciate a speedy reply ;)

The rest of my code is as follows.
void initializeRobot()
   // Place code here to init servos to starting positions.
   // Sensors are config'ed and setup by RobotC (need to stabalize).
   // Also add any settings that need to be set (other than global
   // variables), such as max PID speed, servo update rate, etc.

   Servo_Rotate(servo_IR, g_IRServoDefault);      // fold back up after start of tele-op
   Servo_Rotate(servo_claw, g_clawServoExtended);   // keep it straight out after tele-op


   Servo_SetSpeed(servo_IR, 0);   // maximum speed!
   Servo_SetSpeed(servo_claw, 0);   // maximum speed!



task main()

   // These will be used later and are declared here to save from having to
   // declare them every single loop.
   int powerL = 0;
   int powerR = 0;
   int powerLift = 0;


   while (true)
      // Currently does (at least) 7 checks and 3 assignments per loop.


      // See if a direction is being pressed, then test for the direction.
      // This is inside an `if` statement to optimize speed (less checking).
      // `JoystickController` arguments are not passed to increase speed.

      if ( Joystick_Direction() != DIRECTION_NONE )
         switch ( Joystick_Direction() )

            // Operate lift at full power if F/B.
            case DIRECTION_F:
               Motor_SetPower(motor_lift, 100);
            case DIRECTION_B:
               Motor_SetPower(motor_lift, -100);

            case DIRECTION_L:
            case DIRECTION_R:

      // See if a button (not masked) is being pressed, then react.
      // This is inside an `if` statement to optimize speed (less checking).

      // The argument to this first `if` statement is a masked version
      // of the "bitmap" of buttons directly from the controller.

      // Everything other than the buttons used are masked off, to increase
      // processing speed (possibly, just speculation). Reasoning:
      // `&` compares all bits of the variables, so we might as well mask
      // everything we won't need, in case something irrelevant is pressed.

      // A `0` value means no buttons (that we are testing for) are pressed.
      // Directly using the struct since this is the only possible time to
      // use it, and this is very low-level anyways.

      if ( (g_ControllerMask & joystick.joy1_Buttons) != false )

         // Buttons Y/B/A will control lift height.
         if ( Joystick_Button(BUTTON_Y)==true )
         if ( Joystick_Button(BUTTON_B)==true )
         if ( Joystick_Button(BUTTON_A)==true )

         // If only X is pressed, weigh the ring.
         // If JOYR is pressed as well, deploy ramp.
         if ( Joystick_Button(BUTTON_X)==true )
            if ( Joystick_Button(BUTTON_JOYR) == true )

         // Buttons LT/RT will fine-tune the lift.
         if ( Joystick_Button(BUTTON_RT)==true )
            Motor_SetPower(motor_lift, 100/g_FineTuneFactor);
         if ( Joystick_Button(BUTTON_LT)==true )
            Motor_SetPower(motor_lift, -100/g_FineTuneFactor);

      // L/R motor code. Only triggered when a joystick returns a
      // value greater than the "drive" threshold (`global vars.h`).

      // Logarithmic control probably won't be implemented anytime soon.
      // Also need to stop using the `joystick` struct and switch to the
      // encapsulated version (Joystick_Joystick(...)).

      // These should be zeroed after every loop. In the case that there
      // isn't input, the robot won't keep moving at the last speed it had.
      powerL = 0;
      powerR = 0;

      // Y-axis code:
      if (    abs(joystick.joy1_y1) > g_JoystickThreshold ||
            abs(joystick.joy1_y2) > g_JoystickThreshold )
         powerL = Math_ToLogarithmic(joystick.joy1_y1);
         powerR = Math_ToLogarithmic(joystick.joy1_y2);

      // Last check: if LB/RB is pressed, fine-tune the power level.
      if ( (Joystick_Button(BUTTON_LB)||Joystick_Button(BUTTON_RB)) ==true )
         powerL /= g_FineTuneFactor;
         powerR /= g_FineTuneFactor;

      Motor_SetPower(motor_L, powerL);
      Motor_SetPower(motor_R, powerR);

      // Input from CONTROLLER_2 will be used to control the lift in
      // conjunction with CONTROLLER_1, but cannot override the driver.

      powerLift = 0;

      if ( abs(joystick.joy2_y1)>g_JoystickThreshold )
         powerLift = Math_ToLogarithmic(-1*joystick.joy2_y1);

      if ( (   Joystick_Button(BUTTON_LB, CONTROLLER_2) ||
            Joystick_Button(BUTTON_RB, CONTROLLER_2)) ==true )
         powerLift /= g_FineTuneFactor;

      Motor_SetPower(motor_lift, powerLift);

      // Flush the controller input buffer periodically (every 1/4 sec?)


File comment: This is my main header file.
low-level functions.h [7.13 KiB]
Downloaded 349 times
Sun Nov 11, 2012 6:42 pm

Joined: Sun Nov 11, 2012 6:21 pm
Posts: 5
Post Re: Crash after adding include directory
I think I fixed it. I was using my own function, Task_StartTask(), which wasn't using a const or something. I switched back to StartTask() and it works. :D

Sun Nov 11, 2012 8:58 pm
Display posts from previous:  Sort by  
Reply to topic   [ 2 posts ] 

Who is online

Users browsing this forum: No registered users and 1 guest

You cannot post new topics in this forum
You cannot reply to topics in this forum
You cannot edit your posts in this forum
You cannot delete your posts in this forum
You cannot post attachments in this forum

Search for:
Jump to:  

Powered by phpBB © 2000, 2002, 2005, 2007 phpBB Group.
Designed by ST Software for PTF.