Call Pre Auto Function Every Time Robot Goes into Disabled Mode

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1

Hi,

Recently, my team has had an issue with the competition switch, that if we start in driver control (or the competition cable is unplugged) and then the robot is disabled, pre_auton doesn’t run, causing nothing to be calibrated or the LCD code to run. How would it be possible to call pre_auton every time the robot switches into disabled mode? Would I have to edit the competition template and include file, or is there a better way to do this.

Thanks

2

Preautonomous is a void function, so you could call it at the start of the user control task by putting


pre_auton();

prior to the user control


while(true)

. I don’t think this would cause any problems with competition control.

3

What environment are you using? PROS? ROBOTC? EasyC? ConVEX?

4

I am using ROBOTC

5

Sounds like something the ROBOTC guys need to advise on, there’s a specific subforum for that but I’ll just go ahead and summon @jpearman.

6

Proper tournament procedures is to plug in prior to turning the robot on. So you start in disabled.

I think you must be confused though. If you start in driver control your pre_auton function did run. It sounds like you are ending pre auton yourself even though you don’t seem to want to.

7

That makes sense, but is it possible to run pre-auton every time the robot switches into disabled, instead of just at the start.

8

Can you post your pre auton code?

9

I posted the relevant code here. I want to make it that if I start in driver control, the LCD Code doesn’t run, but then when the robot is disabled, pre_auton runs again, running the LCD Code.

10

Duly summoned.

You can do this but the code gets a little complicated. See demo 4 in this old thread.
https://vexforum.com/index.php/conversation/post/98052

11

O that is an interesting approach. I had read that thread back when it came out but hadn’t thought of it since.

I was going to recommend just moving the LCD selection to its own task. This code

with
stopTask(LCDControl);
removed from usercontrol. That way the competition code would still be used and the LCD would run through usercontrol and disabled.

They are effectively the same thing. A task in the backround to monitor stuff but I wouldn’t have wanted to bypass the ROBOTC competition control just to have to re-implement it.

12

When I wrote the code in this thread this was true.

I fixed that IIRC in the latest version of RobotC.

13

If I set


bStopTasksBetweenModes = false

, would I have to stop the autonomous task during user-control and the other way around (and both in pre_auton) @jpearman @tabor473

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