I am trying to insert servos into the teleop program, but they are not working. I am just trying to have the servos move to one position at the beginning at the teleop and then go back to where they were by pressing a controller button.

Or I could have the servos move at the end of the autonomous.

Any suggestions?

I had a lot of problems with servos and submitted a topic about it.
http://robotc.net/forums/viewtopic.php?f=33&t=1189

but how do you get the servos to work with one of the controller buttons?

True, you could have your servo move into position at the end of the Autonomus program but it would be better to place a command like this, if intended for the TeleOp portion, in the initializeRobot() function of the TeleOp program so that it is set at the beginning of the program. Then to move a servo when a button is pressed call either joy1Btn(btnNum) or joy2Btn(btnNum) as the condition for an if statement to test for the press of a button whose number is btnNum on either joystick 1 or 2 respectivly. Buttons 11 and 12, the "stick" buttons, are not used in RobotC.

Also as others have stated, follow these guidelines when testing for button presses:


Now, a full example.

I redid the code using your information, however it didn't work and when I ran the debugger it stopped atthe second servo

which is servo[servo2] = 127;

Here is the whole code

#pragma config(Hubs, S1, HTMotor, HTMotor, none, none)
#pragma config(Motor, mtr_S1_C1_1, motorD, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C1_2, motorE, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_1, motorF, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_2, motorG, tmotorNormal, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Tele-Operation Mode Code Template
//
// This file contains a template for simplified creation of an tele-op program for an FTC
// competition.
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c" //Include file to "handle" the Bluetooth messages.


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// initializeRobot
//
// Prior to the start of tele-op mode, you may want to perform some initialization on your robot
// and the variables within your program.
//
// In most cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

void initializeRobot()
{
// Place code here to sinitialize servos to starting positions.
// Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.
servo[servo1] = 127;
servo[servo2] = 127;
return;
}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Main Task
//
// The following is the main code for the tele-op robot operation. Customize as appropriate for
// your specific robot.
//
// Game controller / joystick information is sent periodically (about every 50 milliseconds) from
// the FMS (Field Management System) to the robot. Most tele-op programs will follow the following
// logic:
// 1. Loop forever repeating the following actions:
// 2. Get the latest game controller / joystick settings that have been received from the PC.
// 3. Perform appropriate actions based on the joystick + buttons settings. This is usually a
// simple action:
// * Joystick values are usually directly translated into power levels for a motor or
// position of a servo.
// * Buttons are usually used to start/stop a motor or cause a servo to move to a specific
// position.
// 4. Repeat the loop.
//
// Your program needs to continuously loop because you need to continuously respond to changes in
// the game controller settings.
//
// At the end of the tele-op period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{
initializeRobot();

waitForStart(); // wait for start of tele-op phase

bMotorReflected[motorD]=true;
bMotorReflected[motorE]=false;

bMotorReflected[motorF]=true;

while (true)
{
///////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////
//// ////
//// Add your robot specific tele-op code here. ////
//// ////
///////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////

// Insert code to have servos and motors respond to joystick and button values.
getJoystickSettings(joystick);
motor[motorD] = joystick.joy1_y1;
motor[motorE] = joystick.joy1_y2;

motor[motorG] = 0.75*joystick.joy2_y1;
motor[motorF] = 0.75*joystick.joy2_y2;

if(joy2Btn(07))
{
servo[servo1] = 0;
}
if(joy2Btn(07))
{
servo[servo2] = 0;
}
// Look in the ROBOTC samples folder for programs that may be similar to what you want to perform.
// You may be able to find "snippets" of code that are similar to the functions that you want to
// perform.
}
}

To Rhys Jones.

You don't have a "void waitForStart" any where, I can't see any other problems.

the viod wait for start is in the new Joystick Driver.c that was released last month.

First of all, make sure you have set up your servo controller and servos from the Motors and Sensors Setup dialog, the appropriate declarations are missing from the beginning of your code. I'm suprised it let you compile the code at all considering servo1 was not even declared. As others have pointed out, make sure you are using the templates and updated "JoystickDriver.c"

Additionally, there is no need to test for the press of a button twice as you have,

These two tests can be combined into one:

And there is also no need to test for "07", it may get confused, though it's doubtful.

Thanks for the input. I tried different things but I still can't get the servos to respond. Below is my lasted attempt. Any new suggestions?


// Insert code to have servos and motors respond to joystick and button values.
getJoystickSettings(joystick);
motor[motorD] = joystick.joy1_y1;
motor[motorE] = joystick.joy1_y2;

motor[motorG] = 0.75*joystick.joy2_y1;
motor[motorF] = 0.75*joystick.joy2_y2;

if(joy2Btn(07))
{
servo[motorH] = 127;
servo[motorI] = 127;
}
// Look in the ROBOTC samples folder for programs that may be similar to what you want to perform.
// You may be able to find "snippets" of code that are similar to the functions that you want to
// perform.
}
}

No definitely not.

This is most definitely wrong. Are you sure you have the servos set up correctly?

Try to turn the connection to the servos 180*, it's hard to recognize the differences in the beginning but it is probably a wiring problem.

When I attempt to set up the servos, it returns an error upon compiling. This didn't happen to me originally, but now it seems to happen in whatever program I create.

#pragma config(Hubs, S1, HTMotor, HTMotor, HTServo, none)
#pragma config(Motor, mtr_S1_C1_1, motorD, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C1_2, motorE, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_1, motorF, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_2, motorG, tmotorNormal, openLoop)
#pragma config(Servo, srvo_S1_C3_1, servo1, tServoNormal)
#pragma config(Servo, srvo_S1_C3_2, servo2, tServoNormal)

The bottom lines both have the errors:
**Error**:Variable 'servo1' redefinition.
**Error**:Variable 'servo2' redefinition.
When I named the servos motors H and I, it didn't have errors, which is why I attempted to rename the servos.

When you named them "motorH" and "motorI" where these still servo declarations, i.e.

or were they motor declarations,

If the former is true then try naming them something other than "servo1" and "servo2" which are the internal name for those servos. The later simply won't work.

Thanks all who helped me, I got it working. Turns out that naming the servos as the first random thing that came to mind worked:

#pragma config(Hubs, S1, HTMotor, HTMotor, HTServo, none)
#pragma config(Motor, mtr_S1_C1_1, motorD, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C1_2, motorE, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_1, motorF, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_2, motorG, tmotorNormal, openLoop)
#pragma config(Servo, srvo_S1_C3_1, rofl, tServoNormal)
#pragma config(Servo, srvo_S1_C3_2, mao, tServoNormal)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Tele-Operation Mode Code Template
//
// This file contains a template for simplified creation of an tele-op program for an FTC
// competition.
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c" //Include file to "handle" the Bluetooth messages.


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// initializeRobot
//
// Prior to the start of tele-op mode, you may want to perform some initialization on your robot
// and the variables within your program.
//
// In most cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

void initializeRobot()
{
// Place code here to sinitialize servos to starting positions.
// Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.
servo[rofl] = 119;
servo[mao] = 135;
return;
}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Main Task
//
// The following is the main code for the tele-op robot operation. Customize as appropriate for
// your specific robot.
//
// Game controller / joystick information is sent periodically (about every 50 milliseconds) from
// the FMS (Field Management System) to the robot. Most tele-op programs will follow the following
// logic:
// 1. Loop forever repeating the following actions:
// 2. Get the latest game controller / joystick settings that have been received from the PC.
// 3. Perform appropriate actions based on the joystick + buttons settings. This is usually a
// simple action:
// * Joystick values are usually directly translated into power levels for a motor or
// position of a servo.
// * Buttons are usually used to start/stop a motor or cause a servo to move to a specific
// position.
// 4. Repeat the loop.
//
// Your program needs to continuously loop because you need to continuously respond to changes in
// the game controller settings.
//
// At the end of the tele-op period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{
initializeRobot();

waitForStart(); // wait for start of tele-op phase

bMotorReflected[motorD]=true;

bMotorReflected[motorF]=true;

while (true)
{
///////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////
//// ////
//// Add your robot specific tele-op code here. ////
//// ////
///////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////

// Insert code to have servos and motors respond to joystick and button values.
getJoystickSettings(joystick);
motor[motorD] = joystick.joy1_y1;
motor[motorE] = joystick.joy1_y2;

motor[motorG] = 0.65*joystick.joy2_y1;
motor[motorF] = 0.65*joystick.joy2_y2;

if(joy2Btn(8))
{
servo[rofl] = 190;
servo[mao] = 65;
}
else
{
servo[rofl] = 119;
servo[mao] = 135;
}
// Look in the ROBOTC samples folder for programs that may be similar to what you want to perform.
// You may be able to find "snippets" of code that are similar to the functions that you want to
// perform.
}
}