int titles(int title) {
switch(title){
case 0:
break;
case 1:
string first = "Auto Pick: ";
string second = "";
displayLCD(first, second);
waitForPress();
if(nLCDButtons == leftButton)
{
return redPick;
}
else if(nLCDButtons == rightButton)
{
return bluePick;
}
else if(nLCDButtons == centerButton)
{
return batteryButton;
}
break;
case 2:
waitForPress();
if(nLCDButtons == centerButton)
{
return autoPick;
}
break;
default:
return -1;
}
}
int waitForButtonPress() {
int btnPressed;
waitForPress();
btnPressed = nLCDButtons;
waitForRelease();
return btnPressed; //return the buttons that were pressed
}
void incrementOrDecrement()
{
waitForPress();
//Increment or decrement "AutonomousNumber" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
AutonomousNumber--;
if (AutonomousNumber < 0)
{
AutonomousNumber = NUMBER_OF_MODES;
}
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
AutonomousNumber++;
if (AutonomousNumber > NUMBER_OF_MODES)
{
AutonomousNumber = 0;
}
}
}
task LCDSelect() {
if (showVersion) {
clearLCD();
displayLCDCenteredString(0,"LCD Select v2.0-f"); //briefly display version for debug purposes
wait1Msec(750);
}
showVersion = false; //don't show the version again if autonSelection is ever reset
//Q1: Which side?
showOnLCD("Which side?","Left Right Sk.");
waitForPress();
int q1Response = nLCDButtons;
waitForRelease();
int q2Page = 1; //1 - Big/Small choices shown, 2 - Cube/Fence choices shown, 3 - Nothing choice shown
int q2Response = 0;
int q2PlayChosen = 0;
if (q1Response != 4) {
while (q2PlayChosen == 0) {
if (q2Page == 1) {
if (LCD_CUBE && LCD_STARS) {
showOnLCD("Choose play: 1/2","Cube Star >>");
} else if (LCD_CUBE && !LCD_STARS) {
showOnLCD("Choose play:","Cube >>");
} else if (!LCD_CUBE && LCD_STARS) {
showOnLCD("Choose play:"," Star >>");
} else {
showOnLCD("Press any btn","");
}
wait1Msec(250); //short delay to prevent button press from triggering multiple times
waitForPress();
q2Response = nLCDButtons;
if (q2Response == 4) {
q2Page = 3;
} else if (q2Response == 1) {
q2PlayChosen = 1;
} else if (q2Response == 2) {
q2PlayChosen = 2;
}
waitForRelease();
if (q2Response == 1 ||q2Response == 2) {
break;
}
}/* else if (q2Page == 2) {
showOnLCD("Choose play: 2/3","Cube Fence >>");
wait1Msec(250);
waitForPress();
q2Response = nLCDButtons;
if (q2Response == 4) {
q2Page = 3;
} else if (q2Response == 1) {
q2PlayChosen = 3;
} else if (q2Response == 2) {
q2PlayChosen = 4;
}
waitForRelease();
if (q2Response == 1 ||q2Response == 2) {
break;
}
} */else if (q2Page == 3) {
showOnLCD("Choose play: 2/2","Nothing >>");
wait1Msec(250);
waitForPress();
q2Response = nLCDButtons;
if (q2Response == 4) {
q2Page = 1;
} else if (q2Response == 1) {
q2PlayChosen = 4;
}
waitForRelease();
if (q2Response == 1 ||q2Response == 2) {
break;
}
} //end else if
} //end while
} //end if
if (q1Response == 4) {
AUTON_PLAY = 3;
playConfirmName = "Prog. skills";
} else {
if (q1Response == 1) {
AUTON_SIDE = LEFT;
} else { //q1Response == 2
AUTON_SIDE = RIGHT;
}
switch (q2PlayChosen) {
case 1:
AUTON_PLAY = 1;
playConfirmName = "Cube";
break;
case 2:
AUTON_PLAY = 2;
playConfirmName = "Back stars";
break;
//case 3 would be programming skills, which is handled above
case 4:
AUTON_PLAY = 4;
playConfirmName = "NOTHING";
break;
}
}
startTask(confirmChoice);
wait1Msec(250);
int confirmResult = waitForButtonPress();
stopTask(confirmChoice);
if (confirmResult == 2) {
if (AUTON_PLAY == 5) {
showOnLCD("NOTHING","No auton!");
} else {
showOnLCD(playConfirmName,"will run!");
}
} else {
startTask(restartAutonSelection);
}
} //end task
Button ButtonSubscription::waitForPress() {
return waitForPress(portMAX_DELAY);
}
// wait for any of the specified buttons to be pressed and then released,
// at which point execution will return from this method. The argument
// 'buttons' can refer to multiple buttons using the bitwise OR operator |.
// The return value is the ID of the button that was pressed and released.
// Note that this method takes care of button debouncing.
// Example: waitForButton(TOP_BUTTON | BOTTOM_BUTTON);
unsigned char OrangutanPushbuttons::waitForButton(unsigned char buttons)
{
unsigned char pressedButton = waitForPress(buttons);
waitForRelease(pressedButton);
return pressedButton;
}
void pre_auton()
{
//------------- Beginning of User Interface Code ---------------
//Clear LCD
clearLCDLine(0);
clearLCDLine(1);
bLCDBacklight = true;
//Loop while center button is not pressed
while(nLCDButtons != centerButton)
{
//Switch case that allows the user to choose from 4 different options
switch(count){
case 0:
//Display first choice
displayLCDCenteredString(0, "Red Middle");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count = 3;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count++;
}
break;
case 1:
//Display second choice
displayLCDCenteredString(0, "blue Middle");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count++;
}
break;
case 2:
//Display third choice
displayLCDCenteredString(0, "RED hang");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count++;
}
break;
case 3:
//Display fourth choice
displayLCDCenteredString(0, "Blue hang");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count = 0;
}
break;
default:
count = 0;
break;
}
}
}
void pre_auton(){
bLCDBacklight = true; // Turn on LCD Backlight
clearLCDLine(0);
clearLCDLine(1);
//Display the Primary Robot battery voltage
displayLCDString(0, 0, "Primary: ");
sprintf(mainBattery, "%1.2f%c", nImmediateBatteryLevel/1000.0, 'V'); //Build the value to be displayed
displayNextLCDString(mainBattery);
//Display the Backup battery voltage
displayLCDString(1, 0, "Backup: ");
sprintf(backupBattery, "%1.2f%c", BackupBatteryLevel/1000.0, 'V'); //Build the value to be displayed
displayNextLCDString(backupBattery);
//Short delay for the LCD refresh rate
waitForPress();
// Clear LCD
clearLCDLine(0);
clearLCDLine(1);
wait1Msec(500);
//Declare count variable to keep track of our choice
int count = 0;
while(nLCDButtons != centerButton)
{
//Switch case that allows the user to choose from 5 different options
switch(count){
case 0: //Display first choice
displayLCDCenteredString(0, "Goal Auto red");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count++;
}
break;
case 1: //display 2nd choice
displayLCDCenteredString(0, "Goal Auto Blue");
displayLCDCenteredString(1, "< Enter >");
if(nLCDButtons == leftButton) {
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton) {
waitForRelease();
count++;
}
break;
default:
count = 0;
break;
}
switch(count){
case 2: //Display 3rd choice
displayLCDCenteredString(0, " Blue Hang auto");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton) {
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton) {
waitForRelease();
count++;
}
break;
case 3: //display 4th choice
displayLCDCenteredString(0, "Red Hang auto");
displayLCDCenteredString(1, "< Enter >");
if(nLCDButtons == leftButton) {
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton) {
waitForRelease();
count++;
}
break;
default:
count = 0;
break;
case 4: //display 5th choice
displayLCDCenteredString(0, "Skills Challenge");
displayLCDCenteredString(1, "< Enter >");
if(nLCDButtons == leftButton) {
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton) {
waitForRelease();
count++;
}
break;
default:
count = 0;
break;
}
//Clear LCD
clearLCDLine(0);
clearLCDLine(1);
switch(count) { //pick auto, display
case 0: //Choice 1 from LCD
displayLCDCenteredString(0, "Red Goal Auto");
displayLCDCenteredString(1, "is running!");
wait1Msec(1000);
programChoice = 1;
break;
case 1: //Choice 2 from LCD
displayLCDCenteredString(0, "Blue Goal Auto");
displayLCDCenteredString(1, "is running!");
wait1Msec(1000);
programChoice = 2;
break;
case 2: //Choice 2 from LCD
displayLCDCenteredString(0, "Blue Hang Auto");
displayLCDCenteredString(1, "is running!");
wait1Msec(1000);
programChoice = 3;
break;
case 3: //Choice 3 from LCD
displayLCDCenteredString(0, "Red Hang Auto");
displayLCDCenteredString(1, "is running!");
wait1Msec(1000);
programChoice = 4;
break;
case 4: //Choice 3 from LCD
displayLCDCenteredString(0, "Skills Challenge");
displayLCDCenteredString(1, "is running!");
wait1Msec(1000);
programChoice = 5;
break;
default:
displayLCDCenteredString(0, "No valid choice");
displayLCDCenteredString(1, "was made!");
wait1Msec(1000);
break;
}
}
}
void lcdPreAuton()
{
//Clear LCD
clearLCDLine(0);
clearLCDLine(1);
//Loop while center button is not pressed
while(lcdTerminate == false)
{
while(nLCDButtons != centerButton)
{
switch(colorCount)
{
case 0:
//Display first choice
displayLCDCenteredString(0, "Red");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
colorCount = 1;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
colorCount = 1;
}
ifRed = true;
ifBlue = false;
break;
case 1:
//Display first choice
displayLCDCenteredString(0, "Blue");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
colorCount = 0;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
colorCount = 0;
}
ifBlue = true;
ifRed = false;
break;
}
}
wait10Msec(10);
//next go to side selection
waitForRelease();
if(ifBlue == true && ifRed == false)
{
while(nLCDButtons != centerButton)
{
switch(sideCount)
{
case 0:
displayLCDCenteredString(0, "Left");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
if(nLCDButtons == leftButton)
{
waitForRelease();
sideCount = 1;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
sideCount = 1;
}
autonCount = 0;
break;
case 1:
displayLCDCenteredString(0, "Right");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
if(nLCDButtons == leftButton)
{
waitForRelease();
sideCount = 0;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
sideCount = 0;
}
autonCount = 1;
break;
}
}
}
else if(ifBlue == false && ifRed == true)
{
while(nLCDButtons != centerButton)
{
switch(sideCount)
{
case 0:
displayLCDCenteredString(0, "Left");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
if(nLCDButtons == leftButton)
{
waitForRelease();
sideCount = 1;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
sideCount = 1;
}
autonCount = 2;
break;
case 1:
displayLCDCenteredString(0, "Right");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
if(nLCDButtons == leftButton)
{
waitForRelease();
sideCount = 0;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
sideCount = 0;
}
autonCount = 3;
break;
}
}
}
wait10Msec(10);
waitForRelease();
while(nLCDButtons !=centerButton)
{
switch(delayCount){
case 0:
//Display first choice
displayLCDCenteredString(0, "Delay");
displayLCDCenteredString(1, "< 0 seconds >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
delayCount = 3;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
delayCount++;
}
delayer1 = 0;
break;
case 1:
//Display second choice
displayLCDCenteredString(0, "Delay");
displayLCDCenteredString(1, "< 3 seconds >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
delayCount--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
delayCount++;
}
delayer1 = 3;
break;
case 2:
//Display third choice
displayLCDCenteredString(0, "Delay");
displayLCDCenteredString(1, "< 5 seconds >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
delayCount--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
delayCount++;
}
delayer1 = 5;
break;
case 3:
//Display fourth choice
displayLCDCenteredString(0, "Delay");
displayLCDCenteredString(1, "< 7 seconds >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
delayCount--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
delayCount = 0;
}
delayer1 = 7;
break;
default:
delayCount = 0;
break;
}
lcdTerminate = true;
}
}
}
