rbrott
commented
3 years ago
- but only two of them are used and then the code ends/crashes when it is not supposed to.
Do you have the stack trace/error message for the crash?
.addDisplacementMarker(() -> { timer.reset(); while (timer.milliseconds() < 250) { } }) .build();
Marker callbacks should never block for extended periods.
2. It always ends on the same marker, after the second marker in the shooting Trajectory, no matter how much I change the overall time and the time between, it still ends on the same part and the same marker.
3. I tried to separate the number of markers in half, having the second trajectory move 0.5 inches to the right to satisfy the "EmptyList" Exception, but it still ends on the same point and marker AT THE SAME EXACT TIME EVERY TIME, NO MATTER WHAT TIME IS LISTED ON THE TEMPORAL MARKERS.
4. All the Trajectorys uses ".followTrejectory()" DOESN'T USE ASYNC, meaning it should follow through all the markers regardless if the robot is moving or not, right?
Markers are designed to execute while the trajectory is running. When the follower has finished the trajectory, it immediately schedules all remaining markers to execute. It does not stall to respect their given times. For example, if I have a 2.5-second trajectory with markers at 1, 2, 3, and 4 seconds, the first two markers will execute as schedule, while the last two will both execute at 2.5 seconds when the follower finishes (this is complicated slightly by admissible error).
timmyjr11
We use Roadrunner for our Autonomous program, and the markers are causing the code to end/crash
For a better understanding of what is going on, I'm going to give a high-level overview of the autonomous, then more information on the problem at hand, and what I did to try to fix it:
Overview of autonomous:
Moves to the first Powershot on the far left of the goal, using temporal markers to both starts the shooting motors and shoot
Moves right to hit the middle power shot, using a temporal marker to prepare to shoot by reeling back the tapper (pushes the ring to the shooters), then a displacement marker to shoot, does the same thing for the last PowerShot on the right
Goes to place the wobble goal in the correct square based on the ring configuration and places it, using temporal markers to control the wobble arm that places the wobble goal
Turns 180° and Moves to the rings of there are 1 or 4 rings present, using displacement markers to prepare to intake
Collects the rings, using temporal markers to start motors
Turns back towards the goal and prepares to shoot, using a temporal marker to prepare to shoot
THIS IS THE PART WHERE IT MESSES UP:
We use a temporal marker to shoot, this Trajectory has 8 total temporal markers, but only two of them are used and then the code ends/crashes when it is not supposed to.
The robot is then supposed to park afterward, which it doesn't because it already ended for some reason
Things to know:
All the markers were called and used properly until it tries to shoot in the goal, that's when it ends
It always ends on the same marker, after the second marker in the shooting Trajectory, no matter how much I change the overall time and the time between, it still ends on the same part and the same marker.
I tried to separate the number of markers in half, having the second trajectory move 0.5 inches to the right to satisfy the "EmptyList" Exception, but it still ends on the same point and marker AT THE SAME EXACT TIME EVERY TIME, NO MATTER WHAT TIME IS LISTED ON THE TEMPORAL MARKERS.
All the Trajectorys uses ".followTrejectory()" DOESN'T USE ASYNC, meaning it should follow through all the markers regardless if the robot is moving or not, right?
I tried to isolate the code into parts to see what's wrong, every Trajectory works perfectly, markers and all, only the shooting Trajectory is the one that's crashing, meaning there is no outside code that is causing this.
I restarted the phone, the robot, and reran the code, but nothing fixed it
I even wrote a new .Java file to see if it fixes the problem, it didn't
I tried to switch to displacement markers to see if it would fix the problem, it did not, it still ended at the same exact point the temporal markers did
Instead of using markers, I tried to create my own shooting method using an FTC timer Instead of Roadrunners, like this:
tapper.setPosition(1);
timer.reset;
while(timer.miliseconds < 150) {
}
Which does actually shoot the rings without ending the code and crashing it, but since it's not from Roadrunner, it cannot calculate and correct its angle, meaning it's off-angle and misses its shots.
I don't know how to fix this. I even asked the FTC discord for advice, but it was to no avail. I'm in a major roadblock until I fix the problem. so if ANYONE has an idea or solution or a resource to help me with my problem, that would be most appreciated!
Code of my Auto: (Trajectory ShootIntoGoal is where it crashes)