Need help with Multitasking in Vexcode V5

[Mentor_355U]

@Portal

vex::task check(int DiscDetect());

This line is incorrect. Tasks take a pointer to a function as an argument, so you’d want:

vex::task check(DiscDetect);

See also this thread from James about the lifecycle of threads through each of the states a robot goes thru in a competition (e.g. Disabled, Auton, Disabled, Driver).

Competition code and user created tasks

We’ve had some feedback recently from teams who have had issues with competition control. I’ve looked at some of the team code and noticed that often problems are being caused by tasks started in either the driver or autonomous section of the program being allowed to run during the other phase of the match. This can occur with programs written in either VEXcode or PROS (and I assume RobotMesh, but I’m not planning to specifically discuss that programming environment in this topic) although the…

As James mentions, you are realistically more likely to go thru states:

1. At queueing, or before placing the robot on the field, you turn it on and start the program. Main runs and you are in Driver Control mode.
2. You place the robot and plug your controller into Field Control which Disables your Robot.
3. Auton starts and you are in auton.
4. Auton ends and you are Disabled.
5. Driver control starts and you are in Driver.

During 5, if you disconnect or need to power-cycle your robot, you may also start right back up in Driver.

Depending on what you want this to do, you may want to start the task only in the usercontrol function rather than main.