void lcdMainMenu(){// code for main menu in the lcd
if (lcdReadButtons(uart1) == LCD_BTN_LEFT && previousLCD != LCD_BTN_LEFT && arbitraryVariable == 0){// if clicked now, and not clicked 20 ms before
menuCount--;
}
else if (lcdReadButtons(uart1) == LCD_BTN_RIGHT && previousLCD != LCD_BTN_RIGHT && arbitraryVariable == 0){
menuCount++;
}
if (menuCount < 0){
menuCount = maxNumberMenus;
}
else if (menuCount > maxNumberMenus){
menuCount = 0;
}
// Main Menu
switch(menuCount){
case 0:
lcdClear(uart1);
lcdSetText(uart1, 1, "750R's LCD");
lcdSetText(uart1, 2 , "Welcome");
subMenuCount = 0;
break;
case 1:
lcdClear(uart1);
lcdSetText(uart1, 1 , "Autonomous");
subMenuCount = 1;
break;
case 2:
lcdClear(uart1);
lcdSetText(uart1, 1 , "Battery");
subMenuCount = 2;
break;
case 3:
lcdClear(uart1);
lcdSetText(uart1, 1 , "Sensors");
subMenuCount = 3;
break;
case 4:
lcdClear(uart1);
lcdSetText(uart1, 1 , "Motors");
subMenuCount = 4;
break;
case 5:
lcdClear(uart1);
lcdSetText(uart1, 1, "Auton Recorder");
subMenuCount = 5;
}
}
void calibrate(){
if (bot == calib){
wind(joystickGetAnalog(1, 3));
if (joystickGetDigital(1, 7, JOY_RIGHT)){
encoderReset(encode);
}
}
int oldval = leftdraw;
//raise the left shooting value
while (joystickGetDigital(1, 7, JOY_UP)){
leftdraw = oldval - 5;
delay(25);
}
//lower left shooting value
while (joystickGetDigital(1, 7, JOY_DOWN)){
leftdraw = oldval + 5;
delay(25);
}
oldval = rightdraw;
//raise right shooting value
while (joystickGetDigital(1, 8, JOY_UP)){
rightdraw = oldval + 5;
delay(25);
}
//lower left shooting value
while (joystickGetDigital(1, 8, JOY_DOWN)){
rightdraw = oldval - 5;
delay(25);
}
char buf[16];
sprintf(buf, "R: %d L: %d", rightdraw, leftdraw);
lcdSetText(uart1, 2, buf);
}
void display(char* disp){
if (current == driver){
if (announce != NULL && millis() - lastannounce <= 3000){
lcdSetText(uart1, 1, announce);
}
else {
if (bot == calib){
char buf[16];
sprintf(buf, "Calibrate: %d", encoderGet(encode));
lcdSetText(uart1, 1, buf);
} else if (bot == lift){
if (drinv == 1){
lcdSetText(uart1, 1, "Up");
} else {
lcdSetText(uart1, 1, "Down");
}
} else if (bot == shoot){
if (shootdir == left){
char buf[16];
sprintf(buf, "Left: %d", encoderGet(encode));
lcdSetText(uart1, 1, buf);
} else {
char buf[16];
sprintf(buf, "Right: %d", encoderGet(encode));
lcdSetText(uart1, 1, buf);
}
} else if (bot == control){
char buf[16];
sprintf(buf, "Encoder: %d", encoderGet(encode));
lcdSetText(uart1, 1, buf);
}
}
}
else {
lcdSetText(uart1, 1, disp);
}
}
double getRedEncoderVelocity(RedEncoder encoder)
{
if((unsigned int) (micros() - (*encoder.lastReadTime)) > (unsigned int) encoder.refreshTime)
{
if(micros() - (*encoder.lastReadTime) < 1000000)
{
int currentEncoder = encoderGet(encoder.encoder);
//lcdPrint(uart1, 2, "%d", currentEncoder - *encoder.lastEncoder);
double velocity = (double) ((double) (currentEncoder - (*encoder.lastEncoder)) /
(double) (micros() - (*encoder.lastReadTime)));
*encoder.lastEncoder = encoderGet(encoder.encoder);
*encoder.lastReadTime = micros();
velocity *= 100000;
//lcdPrint(uart1, 2, "%f", velocity);
*encoder.velocity = velocity;
}
else
{
(*encoder.lastEncoder) = encoderGet(encoder.encoder);
(*encoder.lastReadTime) = micros();
(*encoder.velocity) = 0;
lcdSetText(uart1, 2, "Timeout");
}
}
//lcdPrint(uart1, 1, "C%d", (unsigned int) micros());
//lcdPrint(uart1, 2, "L%d", (unsigned int) micros() - *encoder.lastReadTime);
//lcdPrint(uart1, 2, "%f", *encoder.velocity);
return *encoder.velocity;
}
double getRedEncoderVelocity(RedEncoder encoder)
{
if(micros() - (*encoder.lastReadTime) > 100000)
{
if(micros() - (*encoder.lastReadTime) < 1000000)
{
int currentEncoder = encoderGet(encoder.encoder);
double velocity = (double) ((double) (currentEncoder - (*encoder.lastEncoder)) /
(double) (micros() - (*encoder.lastReadTime)));
*encoder.lastEncoder = encoderGet(encoder.encoder);
*encoder.lastReadTime = micros();
velocity *= 100000;
//lcdPrint(uart1, 1, "%f", velocity);
*encoder.velocity = velocity;
//lcdSetText(uart1, 2, "Update");
}
else
{
(*encoder.lastEncoder) = encoderGet(encoder.encoder);
(*encoder.lastReadTime) = micros();
(*encoder.velocity) = 0;
lcdSetText(uart1, 2, "Timeout");
}
}
//lcdPrint(uart1, 1, "%f", *encoder.velocity);
return *encoder.velocity;
}
void autonSelectMenu() {
lcdSetBacklight(uart1, true);
while (button != LCD_BTN_CENTER) {
lcdClear(uart1);
lcdSetText(uart1, 1, "Alliance Color?");
lcdSetText(uart1, 2, "< Red Blue >");
button = getLcdButtons();
if (button == LCD_BTN_LEFT) {
lcdClear(uart1);
lcdSetText(uart1, 1, "Starting Side?");
lcdSetText(uart1, 2, "< Middle Hang >");
while (button != LCD_BTN_LEFT || button != LCD_BTN_RIGHT) {
button = getLcdButtons();
// Red Middle
if (button == LCD_BTN_LEFT) {
int screen = 0;
int minScreen = 0;
int maxScreen = 4;
lcdClear(uart1);
while (button != LCD_BTN_CENTER) {
switch (screen) {
case 0:
lcdSetText(uart1, 1, "auton one");
break;
case 1:
lcdSetText(uart1, 1, "auton two");
break;
case 2:
lcdSetText(uart1, 1, "auton three");
break;
case 3:
lcdSetText(uart1, 1, "auton four");
break;
}
button = getLcdButtons();
if (button == LCD_BTN_RIGHT) {
if (++screen > maxScreen)
screen = minScreen;
} else if (button == LCD_BTN_LEFT) {
if (--screen < minScreen)
screen = maxScreen;
}
}
autonSelection = screen;
lcdSetText(uart1, 1, " AUTONOMOUS");
lcdSetText(uart1, 2, " SET");
taskDelay(400);
return;
}
// Red Hang
if (button == LCD_BTN_RIGHT) {
int screen = 0;
int minScreen = 0;
int maxScreen = 4;
lcdClear(uart1);
while (button != LCD_BTN_CENTER) {
switch (screen) {
case 0:
lcdSetText(uart1, 1, "auton one");
break;
case 1:
lcdSetText(uart1, 1, "auton two");
break;
case 2:
lcdSetText(uart1, 1, "auton three");
break;
case 3:
lcdSetText(uart1, 1, "auton four");
break;
}
button = getLcdButtons();
if (button == LCD_BTN_RIGHT) {
if (++screen > maxScreen)
screen = minScreen;
} else if (button == LCD_BTN_LEFT) {
if (--screen < minScreen)
screen = maxScreen;
}
}
autonSelection = screen;
lcdSetText(uart1, 1, " AUTONOMOUS");
lcdSetText(uart1, 2, " SET");
taskDelay(400);
return;
}
}
}
if (button == LCD_BTN_RIGHT) {
lcdClear(uart1);
lcdSetText(uart1, 1, "Starting Side?");
lcdSetText(uart1, 2, "< Middle Hang >");
while (button != LCD_BTN_LEFT || button != LCD_BTN_RIGHT) {
button = getLcdButtons();
// Blue Middle
if (button == LCD_BTN_LEFT) {
int screen = 0;
int minScreen = 0;
int maxScreen = 4;
lcdClear(uart1);
while (button != LCD_BTN_CENTER) {
switch (screen) {
case 0:
lcdSetText(uart1, 1, "auton one");
break;
case 1:
lcdSetText(uart1, 1, "auton two");
break;
case 2:
lcdSetText(uart1, 1, "auton three");
break;
case 3:
lcdSetText(uart1, 1, "auton four");
break;
}
button = getLcdButtons();
if (button == LCD_BTN_RIGHT) {
if (++screen > maxScreen)
screen = minScreen;
} else if (button == LCD_BTN_LEFT) {
if (--screen < minScreen)
screen = maxScreen;
}
}
autonSelection = screen;
lcdSetText(uart1, 1, " AUTONOMOUS");
lcdSetText(uart1, 2, " SET");
taskDelay(400);
return;
}
// Blue Hang
if (button == LCD_BTN_RIGHT) {
int screen = 0;
int minScreen = 0;
int maxScreen = 4;
lcdClear(uart1);
while (button != LCD_BTN_CENTER) {
switch (screen) {
case 0:
lcdSetText(uart1, 1, "auton one");
break;
case 1:
lcdSetText(uart1, 1, "auton two");
break;
case 2:
lcdSetText(uart1, 1, "auton three");
break;
case 3:
lcdSetText(uart1, 1, "auton four");
break;
}
button = getLcdButtons();
if (button == LCD_BTN_RIGHT) {
if (++screen > maxScreen)
screen = minScreen;
} else if (button == LCD_BTN_LEFT) {
if (--screen < minScreen)
screen = maxScreen;
}
}
autonSelection = screen;
lcdSetText(uart1, 1, " AUTONOMOUS");
lcdSetText(uart1, 2, " SET");
taskDelay(400);
return;
}
}
}
}
}
__interrupt void watchdog_timer(void)
{
int x = debounceSwitch();
switch(alarm_state)
{
case(0):
lcdSetText("ALARM NOT SET",0,0);
if((x == BIT7) && prevState == 0x0000){//if the left button is pressed in state 0, begin setting the alarm
alarm_state = 1;
lcdClear();
lcdSetText("Set Hour:",0,0);
lcdSetText(text,0,1);
}
break;
case(1):
if(x == BIT5 && prevState ==0x0000){//press the right button to increment the hours
text[1] ++;
if(text[1] == '0' + 10 ||(text[0] =='2' && text[1] == '5')) text[1] = '0';
if(text[1]=='0') text[0]++;
if(text[0] == '3') text[0] = '0';
}else if(x == BIT7 && prevState ==0x000){ //press the left button to switch to setting the minutes
alarm_state = 2;
lcdClear();
lcdSetText("Set Minute:",0,0);
}
lcdSetText(text,0,1);
break;
case(2):
if(x == BIT5 && prevState ==0x0000){//press the right button to increment the minutes
text[4] ++;
if(text[4] == '0' + 10) text[4] = '0';
if(text[4]=='0') text[3]++;
if(text[3] == '7') text[3] = '0';
}else if(x == BIT7 && prevState ==0x000){ //press the left button to set the alarm
serialWrite('r');
lcdClear();
lcdSetText("ALARM SET:",0,0);
alarm_state = 3;
}
lcdSetText(text,0,1);
break;
case(3):
if(x == BIT7 && prevState ==0x0000){ // if waiting for alarm and want reset, transmit S character
serialWrite('S');
alarm_state = 0;
lcdClear();
lcdSetText("ALARM NOT SET",0,0);
}
break;
case(4):
if(x == BIT7 && prevState ==0x0000){// if alarm going off and want reset, transmit o character and turn off alarm
serialWrite('o');
TA0CCR1 = 0;
alarm_state = 0;
lcdClear();
lcdSetText("ALARM NOT SET",0,0);
}
break;
}
}
/*void lcdAutonRecorder(){
if ((lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD == LCD_BTN_CENTER) || menuStay == LCD_BTN_CENTER){
lcdClear(uart1);
menuStay == LCD_BTN_CENTER;
arbitraryVariable = 1;
lcdSetText(uart1, 1, "CONFIRM");
if (((lcdReadButtons(uart1) == LCD_BTN_RIGHT && previousLCD == LCD_BTN_RIGHT) || endResultMenu == LCD_BTN_RIGHT) && arbitraryValueTwo = 0){
for (int j = 1; j < 4; j ++){
lcdClear(uart1);
lcdSetText(uart1, 1, "Recording in...");
lcdSetText(uart1, 2, j);
}
lcdClear(uart1);
lcdSetText(uart1, 1, "Recording");
record();
lcdClear(uart1);
lcdSetText(uart1, 1, "Finished");
delay(1000);
lcdClear(uart1);
lcdSetText(uart1, 1, "Save?");
lcdSetText(uart1, 2, "No Yes");
if((lcdReadButtons(uart1) == LCD_BTN_RIGHT && previousLCD == LCD_BTN_RIGHT) || endResult_Menu_Inner == LCD_BTN_RIGHT){
endResult_Menu_Inner = LCD_BTN_RIGHT;
arbitraryValueTwo = 1;
if (lcdReadButtons(uart1) == LCD_BTN_LEFT && previousLCD != LCD_BTN_LEFT){// if clicked now, and not clicked 100 ms before
autonRecorderMenuCount--;
}
else if (lcdReadButtons(uart1) == LCD_BTN_RIGHT && previousLCD != LCD_BTN_RIGHT){
autonRecorderMenuCount++;
}
if (autonRecorderMenuCount < 0){
autonRecorderMenuCount = autonRecorderMaxNumberMenus;
}
else if (autonRecorderMenuCount > autonRecorderMaxNumberMenus){
autonRecorderMenuCount = 0;
}
switch(autonRecorderMenuCount){
case 0:
lcdClear(uart1);
lcdSetText(uart1, 1, "Auton Left");
if(lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
saveAuton(Auton_one, "Auton_1");
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
endResult_Menu_Inner = 0;
arbitraryValueTwo = 0;
}
break;
case 1:
lcdClear(uart1);
lcdSetText(uart1, 1, "Auton Right");
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
saveAuton(Auton_two, "Auton_2");
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
endResult_Menu_Inner = 0;
arbitraryValueTwo = 0;
}
break;
}
}
else if((lcdReadButtons(uart1) == LCD_BTN_LEFT && previousLCD == LCD_BTN_LEFT) && arbitraryValueTwo = 0){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
}
else if ((lcdReadButtons(uart1) == LCD_BTN_LEFT && previousLCD == LCD_BTN_LEFT)){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
}
}
*/
void lcdMotor(){// code for the motor sub menu and displays
if ((lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD == LCD_BTN_CENTER) || menuStay == LCD_BTN_CENTER){
lcdClear(uart1);
arbitraryVariable = 1;
menuStay = LCD_BTN_CENTER;
// motor menu!!
if (lcdReadButtons(uart1) == LCD_BTN_LEFT && previousLCD != LCD_BTN_LEFT){// if clicked now, and not clicked 100 ms before
motorMenuCount--;
}
else if (lcdReadButtons(uart1) == LCD_BTN_RIGHT && previousLCD != LCD_BTN_RIGHT){
motorMenuCount++;
}
if (motorMenuCount < 0){
motorMenuCount = motorMaxNumberMenus;
}
else if (motorMenuCount > motorMaxNumberMenus){
motorMenuCount = 0;
}
switch(motorMenuCount){
case 0:
lcdClear(uart1);
lcdSetText(uart1, 1, "Top Left Drive");
snprintf(front_left_driveLCD, 17, "%d", (motorGet(front_left_drive)));
lcdSetText(uart1, 2, front_left_driveLCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 1:
lcdClear(uart1);
lcdSetText(uart1, 1, "Top Right Drive");
snprintf(front_right_driveLCD, 17, "%d", (motorGet(front_right_drive)));
lcdSetText(uart1, 2, front_right_driveLCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 2:
lcdClear(uart1);
lcdSetText(uart1, 1, "Back Left Drive");
snprintf(back_left_driveLCD, 17, "%d", (motorGet(back_left_drive)));
lcdSetText(uart1, 2, back_left_driveLCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 3:
lcdClear(uart1);
lcdSetText(uart1, 1, "Back Right Drive");
snprintf(back_right_driveLCD, 17, "%d", (motorGet(back_right_drive)));
lcdSetText(uart1, 2, back_right_driveLCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 4:
lcdClear(uart1);
lcdSetText(uart1, 1, "Lift 1");
snprintf(left_lift_Motor1LCD, 17, "%d", (motorGet(left_lift_Motor1)));
lcdSetText(uart1, 2, left_lift_Motor1LCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 5:
lcdClear(uart1);
lcdSetText(uart1, 1, "Lift 2");
snprintf(left_lift_Motor2LCD, 17, "%d", (motorGet(left_lift_Motor2)));
lcdSetText(uart1, 2, left_lift_Motor2LCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 6:
lcdClear(uart1);
lcdSetText(uart1, 1, "Lift 3");
snprintf(right_lift_Motor3LCD, 17, "%d", (motorGet(right_lift_Motor3)));
lcdSetText(uart1, 2, right_lift_Motor3LCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 7:
lcdClear(uart1);
lcdSetText(uart1, 1, "Lift 4");
snprintf(right_lift_Motor4LCD, 17, "%d", (motorGet(right_lift_Motor4)));
lcdSetText(uart1, 2, right_lift_Motor4LCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 8:
lcdClear(uart1);
lcdSetText(uart1, 1, "Pincer Left");
snprintf(pincer_leftLCD, 17, "%d", (motorGet(pincer_left)));
lcdSetText(uart1, 2, pincer_leftLCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
case 9:
lcdClear(uart1);
lcdSetText(uart1, 1, "Pincer Right");
snprintf(pincer_rightLCD, 17, "%d", (motorGet(pincer_right)));
lcdSetText(uart1, 2, pincer_rightLCD);
if (lcdReadButtons(uart1) == LCD_BTN_CENTER && previousLCD != LCD_BTN_CENTER){
menuCount = 0;
menuStay = 0;
arbitraryVariable = 0;
endResultMenu = 0;
}
break;
}
}
}
//lcd autonomous selection menu
void lcdAutoSelection() {
short pageAuto = 0, maxPageAuto = 6;
short autoSelected = 0, colorSelected = 0;
short pageColor = red;
//while we are disabled before match
while (isEnabled() == false) {
//have not selected routine yet
if (!autoSelected) {
//display 1 routine option at a time
if (pageAuto == stacks)
lcdSetText(uart1, 1, "stacks");
else if (pageAuto == intercept)
lcdSetText(uart1, 1, "intercept");
else if (pageAuto == preloads)
lcdSetText(uart1, 1, "preloads only");
else if (pageAuto == hoard)
lcdSetText(uart1, 1, "hoarding");
else if (pageAuto == skills)
lcdSetText(uart1, 1, "skills");
else if (pageAuto == nothing)
lcdSetText(uart1, 1, "do nothing");
//wrap back around when we get to last routine
if (pageAuto < 1)
pageAuto = maxPageAuto;
else if (pageAuto > maxPageAuto)
pageAuto = 1;
//switch between routines
if (lcdReadButtons(uart1) == LCD_BTN_LEFT) {
pageAuto--;
while (lcdReadButtons(uart1) == LCD_BTN_LEFT)
delay(20);
} else if (lcdReadButtons(uart1) == LCD_BTN_RIGHT) {
pageAuto++;
while (lcdReadButtons(uart1) == LCD_BTN_RIGHT)
delay(20);
}
//select current routine with center button
if (lcdReadButtons(uart1) == LCD_BTN_CENTER) {
autonomousMode = pageAuto;
if (pageAuto == stacks)
lcdSetText(uart1, 2, "stacks");
else if (pageAuto == intercept)
lcdSetText(uart1, 2, "intercept");
else if (pageAuto == preloads)
lcdSetText(uart1, 2, "preloads only");
else if (pageAuto == hoard)
lcdSetText(uart1, 2, "hoarding");
else if (pageAuto == skills)
lcdSetText(uart1, 2, "skills");
else if (pageAuto == nothing)
lcdSetText(uart1, 2, "do nothing");
autoSelected = 1;
}
}
//move on to select color
else{
if(pageColor == red)
lcdSetText(uart1,1,"red");
else
lcdSetText(uart1,1,"blue");
//switch color
if(lcdReadButtons(uart1) == LCD_BTN_RIGHT){
pageColor = -1*pageColor;
while(lcdReadButtons(uart1) == LCD_BTN_RIGHT)
delay(20);
}
//go back
if(lcdReadButtons(uart1) == LCD_BTN_LEFT)
autoSelected = 0;
//save selection
autonomousColor = pageColor;
}
delay(20);
}
}
void initialize() {
setTeamName("750E");
//int exit = 0;
//imeReinitialize();
lcdInit(uart2);
lcdClear(uart2);
// int count=0;
// while (!exit) {
// delay(20);
//
// // Selecting which auton program.
// if (joystickGetDigital(1,7,JOY_DOWN)|| joystickGetDigital(2,7,JOY_DOWN))
// {
// exit=1;
// }
// else
// {
// switch (count)
// {
// //Autonomous 1.
// case 0: lcdSetText(uart2,1, "Autonomous 1");
// lcdSetText(uart2,2, "< Select >");
// if (lcdReadButtons(uart2)==LCD_BTN_LEFT){
// count=3;
// }
// else if (lcdReadButtons(uart2)==LCD_BTN_RIGHT){
// count++;
// }
// //If selected, display...
// else if (lcdReadButtons(uart2)==LCD_BTN_CENTER){
// lcdSetText(uart2,1,"Autonomous 1");
// lcdSetText(uart2,2,"is running.");
// exit=1;
// break;
// }
// break;
// //Autonomous 2.
// case 1: lcdSetText(uart2,1,"Autonomous 2");
// lcdSetText(uart2,2,"< Select >");
// if (lcdReadButtons(uart2)==LCD_BTN_LEFT){
// count--;
// }
// else if (lcdReadButtons(uart2)==LCD_BTN_RIGHT){
// count++;
// }
// //If selected, display...
// else if (lcdReadButtons(uart2)==LCD_BTN_CENTER){
// lcdSetText(uart2,1,"Autonomous 2");
// lcdSetText(uart2,2,"is running.");
// exit=1;
// break;
// }
// break;
// //Autonomous 3.
// case 2: lcdSetText(uart2,1,"Autonomous 3");
// lcdSetText(uart2,2,"< Select >");
// if (lcdReadButtons(uart2)==LCD_BTN_LEFT){
// count--;
// }
// else if (lcdReadButtons(uart2)==LCD_BTN_RIGHT){
// count++;
// }
// //If selected, display...
// else if (lcdReadButtons(uart2)==LCD_BTN_CENTER){
// lcdSetText(uart2,1,"Autonomous 3");
// lcdSetText(uart2,2,"is running.");
// exit=1;
// break;
// }
// break;
// //Autonomous 4.
// case 3: lcdSetText(uart2,1,"Autonomous 4");
// lcdSetText(uart2,2,"< Select >");
// if (lcdReadButtons(uart2)==LCD_BTN_LEFT){
// count--;
// }
// else if (lcdReadButtons(uart2)==LCD_BTN_RIGHT){
// count++;
// }
// //If selected, display...
// else if (lcdReadButtons(uart2)==LCD_BTN_CENTER){
// lcdSetText(uart2,1,"Autonomous 4");
// lcdSetText(uart2,2,"is running.");
// exit=1;
// break;
// }
// break;
// case 4: lcdSetText(uart2,1,"Self Destruct");
// lcdSetText(uart2,2,"< Select >");
// if (lcdReadButtons(uart2)==LCD_BTN_LEFT){
// count--;
// }
// else if (lcdReadButtons(uart2)==LCD_BTN_RIGHT){
// count=0;
// }
// //If selected, display...
// else if (lcdReadButtons(uart2)==LCD_BTN_CENTER){
// lcdSetText(uart2,1,"Autonomous 4");
// lcdSetText(uart2,2,"is running.");
// count=0;
// exit=1;
// break;
// }
// break;
//
// default: count=0;
// break;
//
// }
//
// }
// auton = count+1;
// }
lcdSetText(uart2,1,"750EVOLUTION");
lcdSetText(uart2,2,"THIS IS A ROBOT");
}