Can someone tell me what might be wrong with this code.
/** @file init.c
- @brief File for initialization code
- This file should contain the user initialize() function and any functions related to it.
- Copyright (c) 2011-2013, Purdue University ACM SIG BOTS.
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions are met:
-
* Redistributions of source code must retain the above copyright -
notice, this list of conditions and the following disclaimer. -
* Redistributions in binary form must reproduce the above copyright -
notice, this list of conditions and the following disclaimer in the -
documentation and/or other materials provided with the distribution. -
* Neither the name of Purdue University ACM SIG BOTS nor the -
names of its contributors may be used to endorse or promote products -
derived from this software without specific prior written permission. - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND
- ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY
- DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be
- obtained from FreeRTOS Real Time Kernel (RTOS) - Browse Files at SourceForge.net or on request.
*/
#include “main.h”
/*
- Runs pre-initialization code. This function will be started in kernel mode one time while the
- VEX Cortex is starting up. As the scheduler is still paused, most API functions will fail.
- The purpose of this function is solely to set the default pin modes (pinMode()) and port
- states (digitalWrite()) of limit switches, push buttons, and solenoids. It can also safely
- configure a UART port (usartOpen()) but cannot set up an LCD (lcdInit()).
*/
void initializeIO() {
}
/*
-
Runs user initialization code. This function will be started in its own task with the default
-
priority and stack size once when the robot is starting up. It is possible that the VEXnet
-
communication link may not be fully established at this time, so reading from the VEX
-
Joystick may fail.
-
This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global
-
variables, and IMEs.
-
This function must exit relatively promptly, or the operatorControl() and autonomous() tasks
-
will not start. An autonomous mode selection menu like the pre_auton() in other environments
-
can be implemented in this task if desired.
*/
void initialize() {
//Leave this value alone
int lcdScreenMin = 1;
//This keeps track of which program you want to run
int lcdScreen = 1;
//Change this value to be the maximum number of programs you want on the robot
int lcdScreenMax = 4;
lcdInit(uart1);
lcdSetBacklight(uart1, 1);while (isEnabled(0)) { //Ensures this code will run ONLY when the robot is disabled
if (lcdReadButtons(uart1 ) == 1) { //Scrolls to the left
if (lcdScreenMin == lcdScreen) {
lcdScreen = lcdScreenMax;
delay(250);
} else {
lcdScreen --;
delay(250);
}
}
if (lcdReadButtons(uart1 ) == 4) { //Scrolls to the right
if (lcdScreenMax == lcdScreen) {
lcdScreen = lcdScreenMin;
delay(250);
} else {
lcdScreen++;
delay(250);
}
}
if (lcdScreen == 1 && Program != 1) {
lcdPrint(uart1, 1, “1”); //Name the first program here
lcdPrint(uart1, 2, “1”); //Name the first program here
if (lcdReadButtons(uart1 ) == 2) {
Program = lcdScreen; //Sets the Program to the one on-screen
lcdPrint(uart1, 1, “Autonomous Has”);
lcdPrint(uart1, 2, “Been Selected!”);
delay(1500);
}
} else if (lcdScreen == 1 && Program == 1) {
lcdPrint(uart1, 1, “[1]”); //We use brackets to mark which program we have chosen
lcdPrint(uart1, 2, “[1]”); //So that while we’re scrolling, we can have one marked
} else if (lcdScreen == 2 && Program != 2) {
lcdPrint(uart1, 1, “2”); //Name the second program here
lcdPrint(uart1, 2, “2”); //Name the second program here
if (lcdReadButtons(uart1 ) == 2) {
Program = lcdScreen; //Sets the Program to the one on-screen
lcdPrint(uart1, 1, “Autonomous Has”);
lcdPrint(uart1, 2, “Been Selected!”);
delay(1500);
}
} else if (lcdScreen == 2 && Program == 2) {
lcdPrint(uart1, 1, “[2]”); //We use brackets to mark which program we have chosen
lcdPrint(uart1, 2, “[2]”); //So that while we’re scrolling, we can have one marked
} else if (lcdScreen == 3 && Program != 3) {
lcdPrint(uart1, 1, “3”); //Name the third program here
lcdPrint(uart1, 2, “3”); //Name the third program here
if (lcdReadButtons(uart1 ) == 2) {
Program = lcdScreen; //Sets the Program to the one on-screen
lcdPrint(uart1, 1, “Autonomous Has”);
lcdPrint(uart1, 2, “Been Selected!”);
delay(1500);
}
} else if (lcdScreen == 3 && Program == 3) {
lcdPrint(uart1, 1, “[3]”); //We use brackets to mark which program we have chosen
lcdPrint(uart1, 2, “[3]”); //So that while we’re scrolling, we can have one marked
} else if (lcdScreen == 4 && Program != 4) {
lcdPrint(uart1, 1, “4”); //Name the fourth program here
lcdPrint(uart1, 2, “4”); //Name the fourth program here
if (lcdReadButtons(uart1 ) == 2) {
Program = lcdScreen; //Sets the Program to the one on-screen
lcdPrint(uart1, 1, “Autonomous Has”);
lcdPrint(uart1, 2, “Been Selected!”);
delay(1500);
}
} else if (lcdScreen == 4 && Program == 4) {
lcdPrint(uart1, 1, “[4]”); //We use brackets to mark which program we have chosen
lcdPrint(uart1, 2, “[4]”); //So that while we’re scrolling, we can have one marked
}
}
}