task autonomous()
{
// .....................................................................................
// Insert user code here.
// .....................................................................................
lcdClear();
char* disp = (Program==0?"BLU Auto":Program==1?"RED Auto":Program==2?"BLU Pole":"RED Pole");
displayLCDCenteredString(0, disp);
switch(Program)
{
case BLU_AUTO:
autonBluAuto();
break;
case RED_AUTO:
autonRedAuto();
break;
case BLU_POLE:
autonBluPole();
break;
case RED_POLE:
autonRedPole();
break;
}
AutonomousCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
task autonomous()
{
// .....................................................................................
// Insert user code here.
// .....................................................................................
AutonomousCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
task autonomous()
{
autonomousStartTime = nSysTime;
AutonomousCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
initialize();
//autonomousRoutines();
}
void pre_auton()
{
bStopTasksBetweenModes = true; // Tasks stop when we need them to. Not doing this can be dangerous.
bLCDBacklight = true; // Turn our LCD backlight on
//Reset the motor encoders
clearDriveEncoders();
//Setup song
processSong();
// Never passing if statement. Lets us get rid of compile warnings so we can focus on the ones we need to see.
if (false) {
UserControlCodePlaceholderForTesting();
AutonomousCodePlaceholderForTesting();
sensorsErrorEscape(); // Get rid of unused methods for the sensor lib
// Feel free to add currently un-used methods/tasks here if you're sure they are meant to not be used.
}
}
task autonomous()
{
// ..........................................................................
// Insert user code here.
// ..........................................................................
slaveMotor(gb2,gb1);
slaveMotor(gb3, gb2);
slaveMotor(gb4, gb3);
bool a = true;
clearTimer(T1);
while(a)
{
if(time1(T1)<3000)
cat(-127);
if(time1(T1)>60000)
a=false
}
// Remove this function call once you have "real" code.
AutonomousCodePlaceholderForTesting();
}
task autonomous()
{
int Ampharos = -1470;
int Dragonite = 639;
int David = -600;
SensorValue[Golem] = 0;
SensorValue[Miltank] = 0;
while(SensorValue[Golem] > Ampharos)
{
if(SensorValue[Golem] > David)
{
motor[port1] = 127; // port 1 and 3 are + for reverse and port 2 and 4 are -.
motor[port2] = -127;
motor[port3] = 127;
motor[port4] = -127;
motor[port7] = -127; // port 7 and port 8 - to take scoop down.
motor[port8] = -127;
}
else
{
motor[port1] = 127;
motor[port2] = -127;
motor[port3] = 127;
motor[port4] = -127;
motor[port7] = 0;
motor[port8] = 0;
}
}
{
motor[port1] = 0;
motor[port2] = 0;
motor[port3] = 0;
motor[port4] = 0;
}
while(SensorValue[Shedinja] < 470)
{
motor[port5] = 127;
motor[port6] = 127;
}
{
motor[port1] = 0;
motor[port2] = 0;
motor[port3] = 0;
motor[port4] = 0;
motor[port5] = 0;
motor[port6] = 0;
motor[port7] = 0;
motor[port8] = 0;
wait1Msec(15000);
}
while(SensorValue[Shedinja] > 50)
{
motor[port5] = -127;
motor[port6] = -127;
}
SensorValue[Golem] = 0;
SensorValue[Miltank] = 0;
{
motor[port1] = 0;
motor[port2] = 0;
motor[port3] = 0;
motor[port4] = 0;
motor[port5] = 0;
motor[port6] = 0;
motor[port7] = 0;
motor[port8] = 0;
}
// .....................................................................................
// Insert user code here.
// .....................................................................................
AutonomousCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
task autonomous()
{
AutonomousCodePlaceholderForTesting();
}
task autonomous()
{
AutonomousCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
task autonomous()
{
AutonomousCodePlaceholderForTesting(); //keep this line of code
}
/////////////////////////////////////////////////////////////////////////////////////////
//
// Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////
void warningKiller() {
UserControlCodePlaceholderForTesting();
AutonomousCodePlaceholderForTesting();
}