I’m in charge on developing the autonomous code for my team, and I’m having problems in running my autonomous part.
I used the sample from the VEX Programming site (Competition Template) as my base.
My code is the following:
#include "vex.h"
using namespace vex;
// A global instance of vex::brain used for printing to the V5 brain screen
vex::brain Brain;
vex::motor MovementL = vex::motor(vex::PORT1, gearSetting::ratio18_1); //Declares Motor that controls the Left Movement of the robot | Assing Motor to Port 10 | Make the Gear Ratio 6 by 1 A.K.A. go Faster
vex::motor MovementR = vex::motor(vex::PORT10, gearSetting::ratio18_1, true); //Declares Motor that controls the Right Movement of the robot | Assing Motor to Port 1 | Make the Gear Ratio 6 by 1 A.K.A. go Faster
vex::motor FlippersL = vex::motor(vex::PORT5); //Declares Motor that controls the Left Flipper Movement of the robot | Assing Motor to Port 5
vex::motor FlippersR = vex::motor(vex::PORT6, true); //Declares Motor that controls the Right Flipper Movement of the robot | Assing Motor to Port 6
vex::motor ArmL = vex::motor(vex::PORT4, gearSetting::ratio36_1, true); //Declares Motor that controls the Left Arm Movement of the robot | Assing Motor to Port 8 | Make the Gear Ratio 36 by 1 A.K.A. go Slow but Stronger
vex::motor ArmR = vex::motor(vex::PORT7, gearSetting::ratio36_1); //Declares Motor that controls the Right Arm Movement of the robot | Assing Motor to Port 3 | Make the Gear Ratio 36 by 1 A.K.A. go Slow but Stronger
vex::motor PlaneL = vex::motor(vex::PORT3, gearSetting::ratio36_1, true); //Declares Motor that controls the Left Pusher Movement of the robot | Assing Motor to Port 2 | Make the Gear Ratio 36 by 1 A.K.A. go Slow but Stronger
vex::motor PlaneR = vex::motor(vex::PORT8, gearSetting::ratio36_1); //Declares Motor that controls the Right Pusher Movement of the robot | Assing Motor to Port 9 | Make the Gear Ratio 36 by 1 A.K.A. go Slow but Stronger
// A global instance of vex::competition
vex::controller Controller1 = vex::controller(); //A global instance of vex::Controller
vex::competition Competition;
//Autonomous Code
void autonomous(void) {
int FlippersSpeed = 100;
//Set Velocity Speed
MovementL.setVelocity( 50, vex::velocityUnits::pct );
MovementR.setVelocity( 50, vex::velocityUnits::pct );
//Robot moves foward for 2 seconds
MovementL.spin( vex::directionType::fwd );
MovementR.spin( vex::directionType::fwd );
vex::task::sleep(2000);
MovementL.stop();
MovementR.stop();
vex::task::sleep(500);
//Robot use flippers to put the block for 1.5 seconds
FlippersL.spin(vex::directionType::fwd, FlippersSpeed, vex::velocityUnits::pct);
FlippersR.spin(vex::directionType::fwd, FlippersSpeed, vex::velocityUnits::pct);
vex::task::sleep(1500);
FlippersL.stop();
FlippersR.stop();
vex::task::sleep(500);
//Robot moves backward for 2 seconds
MovementL.spin( vex::directionType::rev);
MovementR.spin( vex::directionType::rev);
vex::task::sleep(2000);
MovementL.stop();
MovementR.stop();
}
//User Control
void usercontrol() {
int FlippersSpeed = 100; //Integer Value that represents the force of the motor in the Flippers
int ArmSpeed = 100; //Integer Value that represents the force of the motor in the Arms
int PlaneSpeed = 100; //Integer Value of 1 that works kinda as boolean | Declares condition | Work in the Movement of Pushers
while (1) { //Same as while(true) | Work as a infinite loop | Makes the control do forever the instructions in the code
MovementL.spin(vex::directionType::fwd, Controller1.Axis3.position() + Controller1.Axis4.position(), vex::velocityUnits::pct); //Makes the movement on the Left Side move back and foward depending on the movement of the Left joystick
MovementR.spin(vex::directionType::fwd, Controller1.Axis3.position() - Controller1.Axis4.position(), vex::velocityUnits::pct); //Makes the movement on the Left Side move back and foward depending on the movement of the Left joystick
if (Controller1.ButtonX.pressing()) { //If statement | When the X Button of the control is pressed
FlippersL.spin(vex::directionType::fwd, FlippersSpeed, vex::velocityUnits::pct); //Left Flipper spin foward with FlipperSpeed velocity
FlippersR.spin(vex::directionType::fwd, FlippersSpeed, vex::velocityUnits::pct); //Right Flipper spin foward with FlipperSpeed velocity
} else if (Controller1.ButtonB.pressing()) { //Else If statement | If first conditions is not real | When the B Buttton of the control is pressed
FlippersL.spin(vex::directionType::rev, FlippersSpeed, vex::velocityUnits::pct); //Left Flipper spin backwards with FlipperSpeed velocity
FlippersR.spin(vex::directionType::rev, FlippersSpeed, vex::velocityUnits::pct); //Left Flipper spin backwards with FlipperSpeed velocity
} else if (Controller1.ButtonA.pressing()) { //If statement | When the X Button of the control is pressed
FlippersL.spin(vex::directionType::fwd, FlippersSpeed/2, vex::velocityUnits::pct); //Left Flipper spin foward with FlipperSpeed velocity
FlippersR.spin(vex::directionType::fwd, FlippersSpeed/2, vex::velocityUnits::pct); //Right Flipper spin foward with FlipperSpeed velocity
} else if (Controller1.ButtonY.pressing()) { //Else If statement | If first conditions is not real | When the B Buttton of the control is pressed
FlippersL.spin(vex::directionType::rev, FlippersSpeed/2, vex::velocityUnits::pct); //Left Flipper spin backwards with FlipperSpeed velocity
FlippersR.spin(vex::directionType::rev, FlippersSpeed/2, vex::velocityUnits::pct); //Left Flipper spin backwards with FlipperSpeed velocity
} else { //Else statement | If the first two 'if' conditions are not been completed | When any buttons are not pressed
FlippersL.stop(vex::brakeType::brake); //Left Flipper stop to move A.K.A. do not move
FlippersR.stop(vex::brakeType::brake); //Right Flipper stop to move A.K.A. do not move
}
if (Controller1.ButtonR1.pressing()) { //If statement | When the R1 Button of the control is pressed
ArmL.spin(vex::directionType::fwd, ArmSpeed, vex::velocityUnits::pct); //Left Arm move up with ArmSpeed velocity
ArmR.spin(vex::directionType::fwd, ArmSpeed, vex::velocityUnits::pct); //Right Arm move up with ArmSpeed velocity
} else if (Controller1.ButtonR2.pressing()) { //Else If statement | If first conditions is not real | When the R2 Buttton of the control is pressed
ArmL.spin(vex::directionType::rev, ArmSpeed, vex::velocityUnits::pct); //Left Arm move down with ArmSpeed velocity
ArmR.spin(vex::directionType::rev, ArmSpeed, vex::velocityUnits::pct);
} else if (Controller1.ButtonL1.pressing()) {
Competition.autonomous( autonomous );
Competition.drivercontrol( usercontrol );
} else { //Else statement | If the first three 'if' conditions are not been completed | When any buttons are not pressed
ArmL.stop(vex::brakeType::brake); //Left Arm stop to move A.K.A. do not move
ArmR.stop(vex::brakeType::brake); //Right Arm stop to move A.K.A. do not move
}
if (Controller1.ButtonUp.pressing()) { //If statement | When the Up Button of the control is pressed
PlaneL.spin(vex::directionType::fwd, PlaneSpeed, vex::velocityUnits::pct); //Left Pusher move foward with PlaneSpeed velocity
PlaneR.spin(vex::directionType::fwd, PlaneSpeed, vex::velocityUnits::pct); //Right Pusher move foward with PlaneSpeed velocity
} else if (Controller1.ButtonDown.pressing()) { //Else If statement | If first conditions is not real | When the Down Buttton of the control is pressed
PlaneL.spin(vex::directionType::rev, PlaneSpeed, vex::velocityUnits::pct); //Left Pusher move foward with PlaneSpeed velocity
PlaneR.spin(vex::directionType::rev, PlaneSpeed, vex::velocityUnits::pct); //Right Pusher move foward with PlaneSpeed velocity
} else if (Controller1.ButtonRight.pressing()) { //Else If statement | If first conditions is not real | When the Down Buttton of the control is pressed
PlaneL.spin(vex::directionType::fwd, PlaneSpeed/2, vex::velocityUnits::pct); //Left Pusher move foward with PlaneSpeed velocity
PlaneR.spin(vex::directionType::fwd, PlaneSpeed/2, vex::velocityUnits::pct); //Right Pusher move foward with PlaneSpeed velocity
} else if (Controller1.ButtonLeft.pressing()) { //Else If statement | If first conditions is not real | When the Down Buttton of the control is pressed
PlaneL.spin(vex::directionType::rev, PlaneSpeed/2, vex::velocityUnits::pct); //Left Pusher move foward with PlaneSpeed velocity
PlaneR.spin(vex::directionType::rev, PlaneSpeed/2, vex::velocityUnits::pct); //Right Pusher move foward with PlaneSpeed velocity
} else { //Else statement | If the first three 'if' conditions are not been completed | When any buttons are not pressed
PlaneL.stop(vex::brakeType::brake); //Left Pusher stop to move A.K.A. do not move
PlaneR.stop(vex::brakeType::brake); //Right Pusher stop to move A.K.A. do not move
}
//Ending Brackets of 'else' statement
vex::task::sleep(10); //The time to response //Ending Brackets of 'While' statement A.K.A. the loop
}
}
//Code start from here
void pre_auton( void ) { //Pre-Autonomous Part A.K.A. No idea to use it so just leave it in blank
}
int main() {
pre_auton();
//Set up callbacks for autonomous and driver control periods
Competition.autonomous(autonomous);
Competition.drivercontrol( usercontrol );
//Run the pre-autonomous function.
//Prevent main from exiting with an infinite loop.
while(1) {
vex::task::sleep(100);//Sleep the task for a short amount of time to prevent wasted resources.
}
}
I think my problem is at initializing the autonomous function. If some one could help me I would be forever in debt with him. Thank you and hope this can be solved ASAP.
