Pros waitUntil help

Programming Support
#1

*note Cata= the motor powering the catapult and CataStop= the limit switch used to tell the motor to stop spinning.

I’m a new PROS user and I’ve noticed that a lot of things are different. My main problem at the moment is that I’m trying to find the equivalent of a waitUntil() in vexcode pro to pros.

In autonomous, im to the point where I need to shoot my catapult, so wrote- Cata=127; to get it to spin through the slipgear, as one would. I want to add the line
Cata.spin(forward, 100, percent); ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ waitUntil(CataStop.pressing());‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ ‎ Cata.stop(coast);

This is what I had in Vexcode Pro. My question is- How would I program my catapult to do the same function in pros?

#2

You can just make your own custom waitUntil. This macro is basically the same as the one on vexcode:

#define waitUntil(condition) while (!(condition)) { pros::delay(50); }

Just put it in your main.h file and you can use it just like in vexcode.

#3

Here is some sample code don’t know if it works or not but should help you out.
I broke the shoot and load actions into two functions.
You could combine if you want.

void shoot(bool bload){
 // 0 will stop the motor pos # forward neg # reverse
  // catMotor.moveVelocity(0);
 // Or you could do move relative like below.  
  catMotor.moveRelative(550,100);
// slight delay will let the cat fire.
  pros::delay(300);
// this is a bool (true false) to load
  if(bload){
    load();
  }
}

void load(){
    
    // std::cout << limitSwitch.get_value() << ": close..." << std::endl;
    // 0 or false is pressed
    // 1 or true is up
// putting this in a task allows the robot to drive around will the catapult loads
//  look into asynchronous non blocking code
  pros::Task task{[=] {

  while(true){
    
    if(limitSwitch.get_value()){
      // stop if the limit switch is hit.
       catMotor.moveVelocity(0);
       break;
       
    }else{
       catMotor.moveVelocity(100);
    }
     pros::delay(10);
   }
    }};

}
#4

Where and how would I implement this? I’m interested in multitasking.

#5

It’s called a lambda task. I learned about it here: Multitasking — PROS for V5 3.7.3 documentation