AutonomousTask::AutonomousTask() {
// Create handles for proxy and robot
Robot *lHandle;
Proxy *proxy;
// Register robot handle
while( !(lHandle = Robot::getInstance()) && !( lHandle->IsAutonomous() ) ) {
Wait(AUTONOMOUS_WAIT_TIME);
}
// Register proxy handle
while( (proxy = Proxy::getInstance()) == NULL ) {
Wait(AUTONOMOUS_WAIT_TIME);
}
while( lHandle->IsAutonomous() ) {
// <<CHANGEME>>
// Insert your autonomous logic here
// This wait is required, it makes sure no task uses too much memory
Wait(AUTONOMOUS_WAIT_TIME);
}
}
/**
* @brief Main thread function for Proxy166.
* Runs forever, until MyTaskInitialized is false.
*
* @todo Update DS switch array
*/
int Proxy::Main( int a2, int a3, int a4, int a5,
int a6, int a7, int a8, int a9, int a10) {
Robot *lHandle = NULL;
WaitForGoAhead();
lHandle = Robot::getInstance();
Timer matchTimer;
while(MyTaskInitialized) {
setNewpress();
if(lHandle->IsOperatorControl() && lHandle->IsEnabled()) {
if(manualDSIO) {
SetEnhancedIO();
}
if(manualJoystick[0]) {
SetJoystick(1, stick1);
}
if(manualJoystick[1]) {
SetJoystick(2, stick2);
}
if(manualJoystick[2]) {
SetJoystick(3, stick3);
}
if(manualJoystick[3]) {
SetJoystick(4, stick4);
}
}
if(!lHandle->IsEnabled()) {
matchTimer.Reset();
// It became disabled
matchTimer.Stop();
set("matchtimer",0);
} else {
// It became enabled
matchTimer.Start();
if(lHandle->IsAutonomous()) {
set("matchtimer",max( 15 - matchTimer.Get(),0));
} else {
set("matchtimer",max(120 - matchTimer.Get(),0));
}
}
// The task ends if it's not initialized
WaitForNextLoop();
}
return 0;
}
