#include “robot-config.h”
/---------------------------------------------------------------------------/
/* /
/ Description: Competition template for VCS VEX V5 /
/ /
/---------------------------------------------------------------------------*/
//Creates a competition object that allows access to Competition methods.
vex::competition Competition;
/---------------------------------------------------------------------------/
/* 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 cortex has been powered on and /
/ not every time that the robot is disabled. /
/---------------------------------------------------------------------------*/
void pre_auton( void ) {
// 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 ) {
while(Sonar1.distance(distanceUnits::in) <8)
{
Arm1.spin(vex::directionType::fwd,200, vex::velocityUnits::pct);
}
while(Sonar1.distance(distanceUnits::in)>8)
{
Frontleftmotor.spin(vex::directionType::fwd,200,vex::velocityUnits::pct);
Backleftmotor.spin(vex::directionType::fwd,200, vex::velocityUnits::pct);
Backrightmotor.spin(vex::directionType::fwd,200, vex::velocityUnits::pct);
Frontrightmotor.spin(vex::directionType::fwd,200, vex::velocityUnits::pct);
}
Frontleftmotor.stop();
Frontrightmotor.stop();
Backleftmotor.stop();
Backrightmotor.stop();
/----------------------------------------------------------------------------/
/* /
/ 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 );
Backleftmotor.spin(vex::directionType::fwd, Controller1.Axis3.value(), vex::velocityUnits::pct); //(Axis3+Axis4)/2
Backrightmotor.spin(vex::directionType::fwd, Controller1.Axis2.value(), vex::velocityUnits::pct);//(Axis1-Axis2)/2
Frontleftmotor.spin(vex::directionType::fwd, Controller1.Axis3.value(), vex::velocityUnits::pct); //(Axis2+Axis1)/2
Frontrightmotor.spin(vex::directionType::fwd, Controller1.Axis2.value(), vex::velocityUnits::pct); //(Axis4+Axis3)/2
if (Controller1.ButtonUp.pressing())
{
Arm1.spin(vex::directionType::fwd,200, vex::velocityUnits::pct);
}
else if (Controller1.ButtonDown.pressing())
{
Arm1.spin(vex::directionType::rev, 200, vex::velocityUnits::pct);
}
else if (!Controller1.ButtonUp.pressing())
{
Arm1.stop();
}
else if (!Controller1.ButtonDown.pressing())
{
Arm1.stop();
}
while (1){
vex::task::sleep(20); //Sleep the task for a short amount of time to prevent wasted resources.
}
}
//
// Main will set up the competition functions and callbacks.
//
int main() {
//Run the pre-autonomous function.
pre_auton();
//Set up callbacks for autonomous and driver control periods.
Competition.autonomous( autonomous );
Competition.drivercontrol( usercontrol );
//Prevent main from exiting with an infinite loop.
while(1) {using namespace vex;
while(true)
vex::task::sleep(100);//Sleep the task for a short amount of time to prevent wasted resources.
}
}