void lcdMenu() {
lcdInit(uart1);
lcdClear(uart1);
lcdSetBacklight(uart1, true);
while (true) {
if (!isEnabled())
lcdSetBacklight(uart1, false);
lcdClear(uart1);
lcdSetText(uart1, 1, "< Auton Select");
lcdSetText(uart1, 2, " Robot Status >");
button = getLcdButtons();
if (button == LCD_BTN_LEFT) {
autonSelectMenu();
} else if (button == LCD_BTN_RIGHT) {
robotStatusMenu();
}
taskDelay(10);
}
}
void
LcdAutonomousSelection()
{
TControllerButtons button;
vexLcdMenus menu = kMenuStart;
// Turn on backlight
bLCDBacklight = true;
// diaplay default choice
LcdAutonomousDisplay(0);
while( bIfiRobotDisabled )
{
// this function blocks until button is pressed
button = getLcdButtons();
// Display and select the autonomous routine
if( ( button == kButtonLeft ) || ( button == kButtonRight ) ) {
// previous choice
if( button == kButtonLeft )
if( --menu < kMenuStart ) menu = kMenuMax-1;
// next choice
if( button == kButtonRight )
if( ++menu >= kMenuMax ) menu = kMenuStart;
}
// Select this choice for the menu
if( button == kButtonCenter )
{
switch( menu ) {
case kMenuAlliance:
// alliance color
vAlliance = (vAlliance == kAllianceBlue) ? kAllianceRed : kAllianceBlue;
break;
case kMenuStartpos:
// start position
vPosition = (vPosition == kStartHanging) ? kStartMiddle : kStartHanging;
break;
case kMenuAutonSelect:
// specific autonomous routine for this position
if( ++vAuton == 3 )
vAuton = 0;
break;
}
}
// redisplay
LcdAutonomousDisplay(menu);
// Don't hog the cpu !
wait1Msec(10);
}
}
void robotStatusMenu() {
int screen = 0;
int maxScreen = 6;
int minScreen = 0;
lcdSetBacklight(uart1, true);
while (button != LCD_BTN_CENTER) {
switch (screen) {
case 0:
lcdSetText(uart1, 1, " Main Battery");
lcdPrint(uart1, 2, "%d mV", powerLevelMain());
break;
case 1:
lcdSetText(uart1, 1, " Backup Battery");
lcdPrint(uart1, 2, "%d mV", powerLevelBackup());
break;
case 2:
lcdSetText(uart1, 1, " Joystick");
lcdSetText(uart1, 2, isJoystickConnected(1) ? " Connected" : " Not Connected");
break;
case 3:
lcdSetText(uart1, 1, "Field Controller");
lcdSetText(uart1, 2, isOnline() ? " Connected" : " Not Connected");
break;
case 4:
lcdSetText(uart1, 1, " IMEs Connected");
lcdSetText(uart1, 2, "xxxxxxxxxxxxxxxx");
break;
case 5:
lcdPrint(uart1, 1, "Left Pot %d", analogRead(potLiftLeft));
lcdPrint(uart1, 2, "Left Mtr %d", motorGet(liftLeft));
break;
case 6:
lcdPrint(uart1, 1, "Right Pot %d", analogRead(potLiftRight));
lcdPrint(uart1, 2, "Right Mtr %d", motorGet(liftRight));
break;
}
button = getLcdButtons();
if (button == LCD_BTN_RIGHT) {
if (++screen > maxScreen)
screen = minScreen;
} else if (button == LCD_BTN_LEFT) {
if (--screen < minScreen)
screen = maxScreen;
}
taskDelay(10);
}
}
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;
}
}
}
}
}
