Pre_auton method

Programming Support VEXcode V5 Tech Support
1

I am scratching my head at the pre_auton method. As far as I can tell it is called once at the beginning of main(), and never again. Yet, it seems to be running in the background while usercontrol and autonomous are running. I can tell because graphics I use in the pre_auton stage are still being printed despite the fact they should be cleared from the screen. Help?

I am using Vexcode V5 C++, on the competition template

Code: GitHub - andrew-on-github/Robotics-Repo: 9635 vex robotics code, written in C++ with VEXCODE Pro editor

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2

I believe that it’s because the code for the pre-auton never technically stops. There might not be a bracket or a line that tells it to end, so the screen doesn’t get cleared even though the code is making the robot do a different action, since the screen isn’t directly told to clear. Maybe try to program a different graphic for the screen for the regular user control and autonomous.

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3

pre_auton() is just a standard function that main calls. If the function blocks (ie. has some sort of while(1) loop) then it will never exit, why would it ?

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4

My autonomous selection contains a while(1) loop. I have tried to program it so that it exits when the competition switch is in user control or autonomous mode but I can’t seem to get that to work either.

5

My user control and autonomous both have a clear screen command in them

6

Send me the code and I will have a look

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7

What program are you coding on? I know my team likes to use vex pro which separates the auton and the driver control

8

Put it on the main topic.

9

Vexcode text pro is what we’re using

10

Try adding this inside your pre_auton while loop:

if (Competition.isAutonomous() || Competition.isDriverControl()) break;

This code checks if the field control is currently in driver control or autonomous mode and breaks out of the loop if it is.

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11

I did something similar by replacing my while(true) with the same condition, it didn’t seem to work either.

Unfortunately, the documentation for the API leaves one wanting…

12

I am curious if you need to be hooked up to a field switch to detect the status.

@jpearman is Competition utilized when a team uses the controller to simulate timers or does it need to be connected to a field control? Looking at the reference I would assume the latter.

Link to Competition reference

VCS Command Reference

Brain.Screen.clearLine();
// check what method of match control if any is being used
if (Competition.isCompetitionSwitch()) {
    // connected to a competition switch
    Brain.Screen.print("Connected to a competition switch");
} else if (Competition.isFieldControl()) {
    // connected to a field control system
    Brain.Screen.print("Connected to a field control system");
} else {
    // not connected to any control system
    Brain.Screen.print("not connected to a control system");
}

Brain.Screen.setCursor(2, 1);
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13

It doesn’t seem to be working with a competition switch. Is that different than field control?

14

That would be the same.

You might want to try a separate program to test if the brain is reacting to the field switch.

void pre_auton(void) {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

    Brain.Screen.clearScreen();
    while(true){
        Brain.Screen.setCursor(1,1);
        Brain.Screen.print("FieldControl: %d  ", Competition.isFieldControl());

        Brain.Screen.setCursor(2,1);
        Brain.Screen.print("Auton: %d  ", Competition.isAutonomous());

        Brain.Screen.setCursor(3,1);
        Brain.Screen.print("Driver: %d  ", Competition.isDriverControl());

        wait(250,msec);
    }
}
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15

I know for sure the brain is reacting to the competition switch, just not sure sure if those methods are working. I’ll give this a shot.

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