Struggling to program macros

Programming Support VEXcode Pro V5 Text Tech Support
3

@73335T, whenever you program a macro that executes during interactive user control period you need to define at least one state variable outside of the while(1) loop.

Please, see the following example:

int iMacroStateVar = 0; // 0 - macro is not running
uint32_t  macroStepEndTime = 0;
while(1)
{
    int userVal = 0;

    int joyVal = Controller1.Axis1.position(pct);
    if( fabs(joyVal) > 10 ) // if using joystick
    {
        userVal = joyVal;
    }

    // if using buttons
    if( Controller1.ButtonR1.pressing() ) // forward
    {
          userVal = 50; // percent of velocity
    }
    else if( Controller1.ButtonR2.pressing() ) // backward
    {
          userVal = -50; // percent of velocity
    }

    if( userVal != 0 )
    {
        motor1.spin(forward, userVal, pct);
        iMacroStateVar = 0; // cancel any macro run
    }
    else if( Controller1.ButtonA.pressing() && iMacroStateVar==0 )
    {  // user pressed A to start macro and macro is not running
        iMacroStateVar = 1; // run motor in reverse for 1 sec or if run into wall
        macroStepEndTime = vex::timer::system() + 1000; 
        motor1.spin(reverse,20,pct); 
    }
    else if( iMacroStateVar==1 && // check when its time to end step 1
             (backBumperSwitch.pressing() ||
              vex::timer::system() > macroStepEndTime ) )
    {
        iMacroStateVar = 2; // run motor forward for 200 units or up to 1.5 sec
        macroStepEndTime = vex::timer::system() + 1500; 
        motor1.spinFor(forward, 200, rotationUnits::deg, 15, velocityUnits::pct, false); 
    }
    else if( iMacroStateVar==0 ||  vex::timer::system() > macroStepEndTime )
    { 
        motor1.stop();
        iMacroStateVar = 0;
    }
    vex::task::sleep(1);
}

In this example user could control motor1 with either value of joystick on Axis1 or by pressing buttons R1 or R2.

When user presses button A it will start the macro and remember its start time.

At any time while macro is running user can take over control and macro sequence will be canceled.

https://api.vexcode.cloud/v5/html/classvex_1_1motor.html
https://api.vexcode.cloud/v5/html/classvex_1_1timer.html
https://api.vexcode.cloud/v5/html/classvex_1_1bumper.html

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