void TeleopPeriodic()
{
Camera();
DriveControl();
PrimeMotors();
Load();
HighGoal();
LowGoal();
ReadDistance();
UpdateServo();
}
task main()
{
initializeRobot();
//while ( true ) {} // FIXME: remove this!!!
waitForStart(); // wait for start of tele-op phase
// FIXME: this worked!!!
//MechanismElevatorTargetEncoder = kElevatorTargetMidDispenser;
//StartTask(MechanismElevatorTargetTask);
//wait10Msec(1000);
// FIXME: remove below 2 trash lines!!!
//MechanismElevatorTarget(kElevatorTargetMidDispenser); // THIS WORKS FINE
//wait10Msec(1000);
while (true)
{
Controller primary, secondary;
UpdatePrimaryController(primary);
UpdateSecondaryController(secondary);
if ( primary.isFresh || secondary.isFresh )
{
DriveControl(primary);
MechanismControl(secondary);
}
#ifdef DEBUG
nxtDisplayCenteredTextLine(0, (string)nMotorEncoder[Elevator]);
nxtDisplayCenteredTextLine(1, (string)motor[Elevator]);
#endif
if ( MagnetBatonPresent() )
{
motor[IndicatorLight] = 100; // turn the light on
}
else
{
motor[IndicatorLight] = 0;
}
}
}
task main(){
while(true)
{
//Handle reverse controls
ProcessReverse();
//Wheel Control
WheelControl();
//Drive Control
DriveControl();
//Dump Control
DumpControl();
//Arm Control
ArmControl();
//Shoot the servo
ShootServo();
//Controls servo in front for calc box
Box();
}
}
//Here, the distinctions between the autonomous personality and driver personality is defined.
task main()
{
InitializeLCDScreen();
InitializePIDControllers();
InitializeDebugStream();
InitializeTimers();
InitializeEncoders();
SenAutoPot = SensorValue(AutoSelector);
UpdateAutonomousRoutine();
while(true)
{
Input();
if(!IsRobotDisabled) //Simulation Allowed but Competiton still works if defined
{
if (IsRobotInAutonomousMode || IsRobotInVirtualAutonomousMode ||
(DriverMode != DriverJoystickControl && DriverMode != DriverMotorTest))
{
AutonomousControl();
UpdateScreen(DispAutonomousMode);
#ifdef LOGENCODERS
LogEncoders();
#endif
if (!IsRobotInAutonomousMode)
if (!JoystickCheck(true))
IsRobotInVirtualAutonomousMode = false;
}
else
{
AutonomousStep=0;
UpdateAutonomousRoutine();
UpdateScreen(DispDriverMode);
if (DriverMode == DriverJoystickControl)
{
AutonomousReset(Finish);
SubroutineCheck();
DriveControl();
IntakeControl();
LiftControl();
DescorerControl();
}
else if (DriverMode == DriverMotorTest)
{
if (!JoystickCheck(false))
DriverMode = DriverJoystickControl;
}
}
}
else
{
AutonomousStep=0;
AutonomousReset(Finish);
UpdateAutonomousRoutine();
UpdateScreen(DispDisabledMode);
}
Output();
MainNonDelayedLoopTime = time1[T4];
while (time1[T4] < MinLoopMS) {}
MainLoopTime = time1[T4];
ClearTimer(T4);
}
}
