Understanding Competition Methods & Template

VEX V5 Technical Support
10

I’m just going to throw this code up. It demonstrates a couple of things, how to start and stop tasks, how to monitor competition control to perform actions when the robot goes in and out of enabled. Ask questions as necessary.

#include "robot-config.h"
/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Module:       main.cpp                                                  */
/*    Author:       james                                                     */
/*    Created:      Tue Feb 26 2019                                           */
/*    Description:  V5 project                                                */
/*                                                                            */
/*----------------------------------------------------------------------------*/
using namespace vex;

// A global instance of vex::competition
vex::competition Competition;

// global variables to store task instances
vex::task armTask;
vex::task driveTask;

// a task started by usercontrol
int
armFunction() {
  int count = 0;
  
  while(true) {
    Brain.Screen.printAt( 10, 70, "Arm task        %6d", count++ );
    // Allow other tasks to run
    this_thread::sleep_for(10);
  }

  return(0);
}

// another task started by usercontrol
int
driveFunction() {
  int count = 0;
  
  while(true) {
    Brain.Screen.printAt( 10, 90, "Drive task      %6d", count++ );
    // Allow other tasks to run
    this_thread::sleep_for(10);
  }

  return(0);
}

//
// This task will monitor the competition status and stop
// other tasks created in usercontrol
int
compMonitor() {
  bool isEnabled;

  while(true) {
    if( Competition.isCompetitionSwitch() || Competition.isFieldControl() ) {
      if( Competition.isEnabled() ) {
        Brain.Screen.printAt( 10, 130, "Comp Enabled" );
        isEnabled = true; 
      }
      else
      if( !Competition.isEnabled() && isEnabled ) {
        Brain.Screen.printAt( 10, 130, "Stop tasks  " );
        armTask.stop();
        driveTask.stop();
        isEnabled = false;
      }
    }
    this_thread::sleep_for(20);
  }

  return(0);
}

/*---------------------------------------------------------------------------*/
/*                          Pre-Autonomous Functions                         */
/*---------------------------------------------------------------------------*/

void pre_auton( void ) {  
}

/*---------------------------------------------------------------------------*/
/*                              Autonomous Task                              */
/*---------------------------------------------------------------------------*/

void autonomous( void ) {
  int count = 0;
  while (1) {
    Brain.Screen.printAt( 10, 50, "Auton  running  %6d", count++ );
    vex::task::sleep(20); //Sleep the task for a short amount of time to prevent wasted resources. 
  }
}

/*---------------------------------------------------------------------------*/
/*                              User Control Task                            */
/*---------------------------------------------------------------------------*/

void usercontrol( void ) {
  int count = 0;

  // start some more tasks
  armTask   = vex::task( armFunction );
  driveTask = vex::task( driveFunction );

  // User control code here, inside the loop
  while (1) {
    Brain.Screen.printAt( 10, 50, "Driver running  %6d", count++ );
    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() {
    int count = 0;

    //Set up callbacks for autonomous and driver control periods.
    Competition.autonomous( autonomous );
    Competition.drivercontrol( usercontrol );
    
    //Run the pre-autonomous function. 
    pre_auton();

    // start a task to monitor competition control
    vex::task compTask( compMonitor );
   
    //Prevent main from exiting with an infinite loop.                        
    while(1) {
      Brain.Screen.printAt( 10, 30, "Main  %d", count++ );
      vex::task::sleep(100);//Sleep the task for a short amount of time to prevent wasted resources.
    }    
}
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