Custom controller schemes

Programming Support ROBOTC Tech Support
1

Is it possible to program custom control schemes in robotC? For example, we have two drivers and both of them prefer to have a different button layout. Could you use the LCD to switch between the two?

2

It is possible.

You can use the LCD (or something simpler like a jumper in a digital port) that will select between two or more different control schemes. Here is a simple example.

#pragma config(Sensor, dgtl1,  jumper,         sensorDigitalIn)
#pragma config(Motor,  port1,           motorL,        tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port10,          motorR,        tmotorVex393HighSpeed_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

// Simple example to use a jumper in digital port1
// to select between left and right joystick controlling 
// the robot drive.

task main()
{
    int controlScheme = 0;
    int forward, turn;
    
    // Switch to alternate control if the jumper is installed
    if( SensorValue jumper ] == 0 )
      controlScheme = 1;
  
    while(1) {
    // Use different joysticks depending on the 
    // selected control scheme.
    if( controlScheme == 1 ){
      forward = vexRT Ch3 ];
      turn    = vexRT Ch4 ];
    }
    else {
      forward = vexRT Ch2 ];
      turn    = vexRT Ch1 ];
    }
    
    // Limit when stick is near center
    if( abs(forward) < 10 ) forward = 0;
    if( abs(turn)    < 10 ) turn    = 0;

    // Set motors, arcade drive
    motor motorL ] = forward + turn;
    motor motorR ] = forward - turn;

    // Don't hog the cpu :)
    wait1Msec(25);
    }
}