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My program is disregarding a portion of code 
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Joined: Sat Dec 07, 2013 1:08 pm
Posts: 8
Post My program is disregarding a portion of code
Hey,

I'm having some trouble with my program as it just seems to disregard a portion of code when running it.

Code:
#pragma config(Hubs,  S1, HTMotor,  HTMotor,  HTMotor,  HTServo)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Sensor, S2,     irSensor,       sensorHiTechnicIRSeeker1200)
#pragma config(Motor,  motorA,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorB,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorC,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  mtr_S1_C1_1,     motorD,        tmotorTetrix, openLoop, reversed)
#pragma config(Motor,  mtr_S1_C1_2,     motorE,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_1,     motorF,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     motorG,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C3_1,     motorH,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C3_2,     motorI,        tmotorTetrix, openLoop)
#pragma config(Servo,  srvo_S1_C4_1,    servo1,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_2,    servo2,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_3,    servo3,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_4,    servo4,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C4_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
  while(SensorValue[irSensor] != 5)
  {
     if(SensorValue[irSensor] < 5)
     {
        motor[motorD] = 50;
        motor[motorE] = 50;
     }
     else (SensorValue[irSensor] == 5); [b]THIS ELSE STATEMENT[/b]
    {
       motor[motorD] = 50;
       motor[motorE] = 50;
       wait1Msec(100);
       motor[motorD] = 0;
       motor[motorE] = 0;
    }
   
  }
      
}


My program should have the robot move forward until the IR seeker (irSensor) has the IR beacon in area 5. The reason I have this else statement is because whenever it reaches area 5 on the IR seeker it stops short of where I need it to be. So the else statement causes it to move up a bit more. But instead of doing so it just skips it altogether.

If someone could please give me some insight on this that'd be great!


Wed Feb 12, 2014 11:26 pm
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Joined: Sun Nov 15, 2009 5:46 am
Posts: 1347
Post Re: My program is disregarding a portion of code
Look very closely at your while loop. Your code said "while (IR reading is not 5)" then it means when you are inside the while loop, the IR is not 5 and your else is checking for 5. So it obviously will never be true.
BTW, the reason why it always stops short of aligning the IR beacon is because zone 5 is very wide (60-degree zone). So when your seeker is 30-degree off dead center of the beacon, it is already returning value 5. So your robot will stop. In order to do it more accurately, I suggest you point your IR seeker ahead to where the robot is moving so that you are looking for zone 2 (if on the left side) or zone 8 (if on the right side). Zone 2 and zone 8 are much narrower zones. So you will stop when you are aligned with the beacon.


Thu Feb 13, 2014 3:29 am
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Joined: Sat Dec 07, 2013 1:08 pm
Posts: 8
Post Re: My program is disregarding a portion of code
Alright, Thanks a ton! I tried it and it's working fine. Thanks for that tidbit at the end as well, I figured that after I posted my question.


Thu Feb 13, 2014 9:39 pm
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