task usercontrol()
{
pre_auton();
while(true)
{
motor[port5] = calculatePID(test, SensorValue[pot]);
}//while
}
task autonomous()
{
pre_auton();
while(true)
{
if(vexRT[AButton] == 1)
{
setArmSpeed(calcPID(PID));
encoderDriveStraight(44.0/12.0);
setCollectorSpeed(MAX_TREAD);
wait10Msec(400);
setCollectorSpeed(0);
setSetPoint(PID, armGround);
enable(PID);
encoderDriveStraight(-44.0/12.0);
}
}
}
task main()
{
// Turn on the LCD backlight
bLCDBacklight = true;
// Clear the LCD
LcdClear();
// Display a startup message
displayLCDCenteredString(0, "Starting up...");
// Don't start the robot for two seconds, as the original code did
wait1Msec(2000);
// Call the pre_auton funtion
pre_auton();
// Main loop
while (true)
{
if (bIfiRobotDisabled)
{
// Allow the auton to be set using the LCD when disabled
StartTask(LcdSetAuton);
// Stop all motors when disabled
allMotorsOff();
}
// If the robot is disabled, do nothing until it is enabled
while (bIfiRobotDisabled)
wait1Msec(25);
// Stop allowing the autonomous to be set from the LCD
StopTask(LcdSetAuton);
// Clear the LCD
LcdClear();
// Handle autonomous mode
if (bIfiAutonomousMode)
{
// Clear the LCD
LcdClear();
// Start the autonomous task
StartTask(autonomous);
// Loop to be run while autonomous is running and the robot is enabled
while (bIfiAutonomousMode && !bIfiRobotDisabled)
{
// If the VEXNET disconnects, power off all of the motors
if (!bVEXNETActive)
if (nVexRCReceiveState == vrNoXmiters)
allMotorsOff();
// Don't hog CPU
wait1Msec(25);
}
// After autonomous has expired, power off all of the motors
allMotorsOff();
// Stop all tasks if the user has set tasks to end between modes
if(bStopTasksBetweenModes)
allTasksStop();
}
else
{
// Clear the LCD
LcdClear();
// Display Driver Control to reflect the current mode
displayLCDCenteredString(0, "Driver Control");
// Start the user control task
StartTask(usercontrol);
// Here we repeat loop waiting for user control to end and (optionally) start
// of a new competition run
while (!bIfiAutonomousMode && !bIfiRobotDisabled)
{
// If the VEXNET disconnects, turn off the motors
if (nVexRCReceiveState == vrNoXmiters)
allMotorsOff();
// Don't hog CPU
wait1Msec(25);
}
// If the mode is switched from user control, turn of all motors
allMotorsOff();
// Stop all tasks if the user has set tasks to end between modes
if(bStopTasksBetweenModes)
allTasksStop();
}
}
}
task main()
{
// Master CPU will not let competition start until powered on for at least 2-seconds
wait1Msec(2000);
pre_auton();
//wait1Msec(500);
while (true)
{
while (bIfiRobotDisabled)
{
nTimeXX = 0;
while (true)
{
if (!bIfiRobotDisabled)
break;
wait1Msec(25);
if (!bIfiRobotDisabled)
break;
wait1Msec(25);
if (!bIfiRobotDisabled)
break;
wait1Msec(25);
if (!bIfiRobotDisabled)
break;
wait1Msec(25);
++nTimeXX;
}
}
nTimeXX = 0;
if (bIfiAutonomousMode)
{
startTask(autonomous);
// Waiting for autonomous phase to end
while (bIfiAutonomousMode && !bIfiRobotDisabled)
{
if (!bVEXNETActive)
{
if (nVexRCReceiveState == vrNoXmiters) // the transmitters are powered off!!
allMotorsOff();
}
wait1Msec(25); // Waiting for autonomous phase to end
}
allMotorsOff();
if(bStopTasksBetweenModes)
{
allTasksStop();
}
}
else
{
startTask(usercontrol);
// Here we repeat loop waiting for user control to end and (optionally) start
// of a new competition run
while (!bIfiAutonomousMode && !bIfiRobotDisabled)
{
if (nVexRCReceiveState == vrNoXmiters) // the transmitters are powered off!!
allMotorsOff();
wait1Msec(25);
}
allMotorsOff();
if(bStopTasksBetweenModes)
{
allTasksStop();
}
}
}
}
task main()
{
// Master CPU will not let competition start until powered on for at least 2-seconds
clearLCDLine(0);
clearLCDLine(1);
displayLCDPos(0, 0);
displayNextLCDString("Startup");
wait1Msec(2000);
pre_auton();
//wait1Msec(500);
while (true)
{
clearLCDLine(0);
clearLCDLine(1);
displayLCDPos(0, 0);
while (bSimulatedRobotDisabled)
{
displayLCDPos(0, 0);
displayNextLCDString("Disabled");
nTimeXX = 0;
while (true)
{
displayStatusAndTime();
if (!bSimulatedRobotDisabled)
break;
wait1Msec(25);
displayStatusAndTime();
if (!bSimulatedRobotDisabled)
break;
wait1Msec(25);
displayStatusAndTime();
if (!bSimulatedRobotDisabled)
break;
wait1Msec(25);
displayStatusAndTime();
if (!bSimulatedRobotDisabled)
break;
wait1Msec(25);
++nTimeXX;
}
}
nTimeXX = 0;
clearLCDLine(0);
clearLCDLine(1);
displayLCDPos(0, 0);
if (bSimulatedAutonomousMode)
{
displayNextLCDString("Autonomous");
StartTask(autonomous);
// Waiting for autonomous phase to end
while (bSimulatedAutonomousMode && !bSimulatedRobotDisabled)
{
if (!bVEXNETActive)
{
if (nSimulatedRecieveState == vrNoXmiters) // the transmitters are powered off!!
allMotorsOff();
}
wait1Msec(25); // Waiting for autonomous phase to end
}
allMotorsOff();
allTasksStop();
}
else
{
displayNextLCDString("User Control");
StartTask(usercontrol);
// Here we repeat loop waiting for user control to end and (optionally) start
// of a new competition run
while (!bSimulatedAutonomousMode && !bSimulatedRobotDisabled)
{
if (nSimulatedRecieveState == vrNoXmiters) // the transmitters are powered off!!
allMotorsOff();
wait1Msec(25);
}
allMotorsOff();
allTasksStop();
}
}
}
