Here is the entire code using the vex competition template.
/----------------------------------------------------------------------------/
/* /
/ Module: main.cpp /
/ Author: VEX /
/ Created: Thu Sep 26 2019 /
/ Description: Competition Template /
/ /
/----------------------------------------------------------------------------*/
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// Drivetrain drivetrain 10, 1
// clawMotor motor 3
// armMotor motor 8
// ---- END VEXCODE CONFIGURED DEVICES ----
#include “vex.h”
using namespace vex;
// A global instance of competition
competition Competition;
// define your global instances of motors and other devices here
/---------------------------------------------------------------------------/
/* Pre-Autonomous Functions /
/ /
/ You may want to perform some actions before the competition starts. /
/ Do them in the following function. You must return from this function /
/ or the autonomous and usercontrol tasks will not be started. This /
/ function is only called once after the V5 has been powered on and /
/ not every time that the robot is disabled. /
/---------------------------------------------------------------------------*/
void pre_auton(void) {
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, …
}
/---------------------------------------------------------------------------/
/* /
/ Autonomous Task /
/ /
/ This task is used to control your robot during the autonomous phase of /
/ a VEX Competition. /
/ /
/ You must modify the code to add your own robot specific commands here. /
/---------------------------------------------------------------------------*/
void autonomous(void) {clawMotor.spinToPosition(.25,turns);
Drivetrain.setDriveVelocity(50, percent);
Drivetrain.driveFor(5,inches);
clawMotor.spinToPosition(.25,turns);
armMotor.spinToPosition(2,turns);
Drivetrain.turnFor(left,90,degrees);
Drivetrain.driveFor(25,inches);
Drivetrain.setTurnVelocity(50, percent);
Drivetrain.turnFor(left,45, degrees);
armMotor.spinToPosition(0,turns);
clawMotor.spinToPosition(.25,turns);
armMotor.spinToPosition(2,turns);
Drivetrain.turn(right);
Drivetrain.drive(reverse);
Drivetrain.driveFor(5,inches);
armMotor.spinToPosition(.25,turns);
Drivetrain.turnFor(right,90,degrees);
armMotor.spinToPosition(1,turns);
clawMotor.spinToPosition(0,turns);
Drivetrain.drive(forward);
Drivetrain.driveFor(47,inches);
armMotor.spinToPosition(0,degrees);
Drivetrain.turnFor(right,45,degrees);
Drivetrain.driveFor(2,inches);
clawMotor.spinToPosition(.25,turns);
Drivetrain.driveFor(reverse,2,inches);
// …
// Insert autonomous user code here.
// …
}
/---------------------------------------------------------------------------/
/* /
/ User Control Task /
/ /
/ This task is used to control your robot during the user control phase of /
/ a VEX Competition. /
/ /
/ You must modify the code to add your own robot specific commands here. /
/---------------------------------------------------------------------------*/
void usercontrol(void) {
// User control code here, inside the loop
while (1) {
// This is the main execution loop for the user control program.
// Each time through the loop your program should update motor + servo
// values based on feedback from the joysticks.
// ........................................................................
// Insert user code here. This is where you use the joystick values to
// update your motors, etc.
// ........................................................................
wait(20, msec); // Sleep the task for a short amount of time to
// prevent wasted resources.
}
}
//
// Main will set up the competition functions and callbacks.
//
int main() {
// Set up callbacks for autonomous and driver control periods.
Competition.autonomous(autonomous);
Competition.drivercontrol(usercontrol);
// Run the pre-autonomous function.
pre_auton();
// Prevent main from exiting with an infinite loop.
while (true) {
wait(100, msec);
}
}