void autonomous()
{
int jumper1 = digitalRead(1);
int jumper2 = digitalRead(2);
int jumper3 = digitalRead(3);
AUTONOMOUS_MODE jumperMask = jumper1 | (jumper2 << 1) | (jumper3 << 2);
//TODO review note below
//NOTE i think it makes more sense to make the MSB the "colour switch"
// J3 J2 J1 bitmask - Up to 8 modes possible
switch (jumperMask)
{
case RUSH_BLUE: // 0 0 0
rushBlue();
break;
case CLASSIC15_BLUE: // 0 0 1
classic15Blue();
break;
case RUSH_RED: // 0 1 0
rushRed();
break;
case CLASSIC15_RED: // 0 1 1
classic15Red();
break;
case REJECTION_BLUE: // 1 0 0
rejectionBlue();
break;
case REJECTION_RED: // 1 0 1
rejectionRed();
break;
case RESERVED6: // 1 1 0
rejectionBlue();
break;
case RESERVED7: // 1 1 1
rejectionBlue();
break;
default: // uncaught
rejectionBlue();
break;
}
//TODO Delete, replaced by above switch statement
/*
//1 = out
// 0 = in
if ((jumper1 == 0) && (jumper2 == 0))
{
rushBlue();
}
if ((jumper1 == 0) && (jumper3 == 0))
{
classic15Blue();
}
if ((jumper1 == 1) && (jumper2 == 0))
{
rushRed();
}
if ((jumper1 == 1) && (jumper3 == 0))
{
classic15Red();
}
if (jumper1 == 0)
{
rejectionBlue();
}
if (jumper1 == 1)
{
rejectionRed();
}
*/
//TODO What is the below, it appears to be dead code
//forwardDetect (1000);
//armUpTrim();
//findLineRight();
//followLine(1200);
//rejectionRed();
//rejectionBlue();
//classic15Red();
//classic15Blue();
//rushRed();
//rushBlue();
//kakitRed ();
// all jumper comands here:
}
void autonomous()
{
int jumper1 = digitalRead (1);
int jumper2 = digitalRead (2);
int jumper3 = digitalRead (3);
//1 = out
// 0 = in
if ((jumper1 == 0) && (jumper2 == 0))
{
rushBlue();
}
if ((jumper1 == 0) && (jumper3 == 0))
{
classic15Blue();
}
if ((jumper1 == 1) && (jumper2 == 0))
{
rushRed();
}
if ((jumper1 == 1) && (jumper3 == 0))
{
classic15Red();
}
if (jumper1 == 0)
{
rejectionBlue();
}
if (jumper1 == 1)
{
rejectionRed();
}
//forwardDetect (1000);
//armUpTrim();
//findLineRight();
//followLine(1200);
//rejectionRed();
rejectionBlue();
//classic15Red();
//classic15Blue();
//rushRed();
//rushBlue();
//kakitRed ();
// all jumper comands here:
}
