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Optical Sensor's "set_integration_time" causes unpredictable behavior with "set_led_pwm" #579
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Haven't been able to reproduce. Not closing yet, but leaving a note. |
How I attempted to reproduce the issue: #include "main.h"
/**
* A callback function for LLEMU's center button.
*
* When this callback is fired, it will toggle line 2 of the LCD text between
* "I was pressed!" and nothing.
*/
void on_center_button() {
pros::Optical optical(1);
static bool pressed = false;
pressed = !pressed;
if (pressed) {
optical.set_led_pwm(100);
} else {
optical.set_led_pwm(0);
}
}
void on_left_button() {
pros::Optical optical(1);
static bool pressed = false;
pressed = !pressed;
if (pressed) {
optical.set_integration_time(100);
}
}
/**
* Runs initialization code. This occurs as soon as the program is started.
*
* All other competition modes are blocked by initialize; it is recommended
* to keep execution time for this mode under a few seconds.
*/
void initialize() {
pros::lcd::initialize();
pros::lcd::set_text(1, "Hello PROS User!");
//pros::lcd::register_btn1_cb(on_center_button);
//pros::lcd::register_btn0_cb(on_left_button);
}
/**
* Runs while the robot is in the disabled state of Field Management System or
* the VEX Competition Switch, following either autonomous or opcontrol. When
* the robot is enabled, this task will exit.
*/
void disabled() {}
/**
* Runs after initialize(), and before autonomous when connected to the Field
* Management System or the VEX Competition Switch. This is intended for
* competition-specific initialization routines, such as an autonomous selector
* on the LCD.
*
* This task will exit when the robot is enabled and autonomous or opcontrol
* starts.
*/
void competition_initialize() {}
/**
* Runs the user autonomous code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the autonomous
* mode. Alternatively, this function may be called in initialize or opcontrol
* for non-competition testing purposes.
*
* If the robot is disabled or communications is lost, the autonomous task
* will be stopped. Re-enabling the robot will restart the task, not re-start it
* from where it left off.
*/
void autonomous() {}
/**
* Runs the operator control code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the operator
* control mode.
*
* If no competition control is connected, this function will run immediately
* following initialize().
*
* If the robot is disabled or communications is lost, the
* operator control task will be stopped. Re-enabling the robot will restart the
* task, not resume it from where it left off.
*/
void opcontrol() {
pros::Controller master(pros::E_CONTROLLER_MASTER);
//pros::Motor left_mtr(1);
//pros::Motor right_mtr(2);
pros::Optical optical(6);
while (true) {
pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
(pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
(pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
// int left = master.get_analog(ANALOG_LEFT_Y);
// int right = master.get_analog(ANALOG_RIGHT_Y);
// left_mtr = left;
// right_mtr = right;
/*
int leftbtn = (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2;
if (leftbtn == 1) {
printf("Left btn pressed\n");
optical.set_integration_time(3);
optical.set_led_pwm(100);
optical.set_integration_time(10);
} else {
optical.set_led_pwm(0);
}
*/
optical.set_integration_time(50);
bool R1 = master.get_digital(pros::E_CONTROLLER_DIGITAL_R1);
if (R1) {
optical.set_led_pwm(100);
} else {
optical.set_led_pwm(0);
}
pros::delay(20);
}
} |
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Expected Behavior:
The Optical Sensor's LED should light up when I set the LED's PWM to 100, and should turn off when I set the LED's PWM to 0, regardless of whether or not I have used the function "set_integration_time".
Actual Behavior:
The Optical Sensor's LED does not light up at all if I use set_integration_time with a parameter other than 100 while using set_led_pwm afterwards. Even if I use the parameter 100 with set_integration_time, the Optical Sensor's LED will be stuck permanently at 100% power after the first time I use set_led_pwm. Avoiding set_integration_time altogether allows set_led_pwm to work as expected.
Steps to reproduce:
Use set_integration_time with any valid parameter (3 ms - 712 ms). Then, try to dynamically change set_led_pwm. For example, you could have the PWM change from 0 to 100 at the press of a button, which was my use case.
System information:
Platform: V5
PROS Kernel Version: 3.8.0
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