void pre_autonomous(){
SensorType(in8) = sensorNone;
//Clearing this should eliminate any drift the gyro builds over time
wait1Msec(1000);
SensorType(in8) = sensorGyro;
wait1Msec(2000);
//Needed for stabalization
SensorFullCount[in8] = 3600;
//sets the gyro to go back to 0 after it hits 3600(a full rotation)
bLCDBacklight = true;
//Set the LCD light to on
SensorValue[in1] = 0;
SensorValue[in2] = 0;
SensorValue[rightIEM] = 0;
SensorValue[leftIEM] = 0;
//Clear ALL Sensors
}
task main()
{
while(SensorSetup != 1)
{
SensorType(Yaw) = sensorNone;
wait1Msec(4000);
SensorType(Yaw) = sensorGyro;
SensorSetup = 1;
}
while(true)
{
motor[MiddleLeft] = Flyspeed;
motor[TBLeft] = Flyspeed;
motor[TMRight] = Flyspeed;
motor[BottomRight] = Flyspeed;
startTask(FlyWheel);
startTask(Drive);
//startTask(Position);
if(vexRT[Btn5U] == 1)
{
motor[Feed] = 127;
}
else if(vexRT[Btn5D] == 1)
{
motor[Feed] = -127;
}
else
{
motor[Feed] = 0;
}
if(vexRT[Btn6U] == 1)
{
motor[Intake] = 127;
}
else if(vexRT[Btn6D] == 1)
{
motor[Intake] = -127;
}
else
{
motor[Intake] = 0;
}
}
}
void OpenNi2Video::AddStream(const OpenNiStreamMode& mode)
{
sensor_type[numStreams] = mode;
openni::Device& device = devices[mode.device];
openni::VideoStream& stream = video_stream[numStreams];
openni::Status rc = stream.create(device, SensorType(mode.sensor_type));
if (rc != openni::STATUS_OK) {
throw VideoException( "OpenNI2: Couldn't create stream.", openni::OpenNI::getExtendedError() );
}
openni::PlaybackControl* control = device.getPlaybackControl();
if(control && numStreams==0) {
total_frames = std::min(total_frames,control->getNumberOfFrames(stream));
}
numStreams++;
}
virtual void
ActorDestroy(ActorDestroyReason aWhy) override
{
// NB: you *must* unconditionally unregister your observer here,
// if it *may* be registered below.
hal::UnregisterBatteryObserver(this);
hal::UnregisterNetworkObserver(this);
hal::UnregisterScreenConfigurationObserver(this);
for (int32_t sensor = SENSOR_UNKNOWN + 1;
sensor < NUM_SENSOR_TYPE; ++sensor) {
hal::UnregisterSensorObserver(SensorType(sensor), this);
}
hal::UnregisterWakeLockObserver(this);
for (int32_t switchDevice = SWITCH_DEVICE_UNKNOWN + 1;
switchDevice < NUM_SWITCH_DEVICE; ++switchDevice) {
hal::UnregisterSwitchObserver(SwitchDevice(switchDevice), this);
}
}
std::vector<SensorType> Enums::GetSensorTypes()
{
if(sensorTypes.empty())
{
std::vector<SensorType> v;
for(auto const& t : SensorType())
{
v.push_back(t);
}
return v;
}
else
{
return sensorTypes;
}
}
void pre_auton()
{
// Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
// Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
bStopTasksBetweenModes = true;
//Clearing this should eliminate any drift the gyro builds over time
wait1Msec(1000);
SensorType(in8) = sensorGyro;
wait1Msec(2000);
//Needed for stabalization
SensorFullCount[in8] = 3600;
bLCDBacklight = true;
//Set the LCD light to on
SensorValue[in1] = 0;
SensorValue[in2] = 0;
SensorValue[rightIEM] = 0;
SensorValue[leftIEM] = 0;
autonomousSelection();
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, ...
}
