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Competition Template 
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Joined: Fri Oct 15, 2010 1:17 am
Posts: 1
Post Competition Template
I am using the .5 Microchip platform. I have been using the Competition template to write the code to work at an actual competition. However, when I compiled and downloaded the code, the user control did not work at all. I researched and saw that I need to add bVexAutonomousMode = false for it to work with the radio transmitter controller. The problem is that I don't want edit the code to where the radio control is turned on to early or too late at the competition. Can someone take a look at this code and tell me how to properly modify it in order for the autonomous to run, followed by the user control., and still be able to function properly at a competition?

Code:
Quote:
#pragma config(Sensor, dgtl1, BumperSwitch_F, sensorTouch)
#pragma config(Sensor, dgtl2, BumperSwitch_B, sensorTouch)
#pragma config(Sensor, dgtl3, BumperSwitch_L, sensorTouch)
#pragma config(Sensor, dgtl4, BumperSwitch_R, sensorTouch)
#pragma config(Sensor, dgtl5, LimitSwitch, sensorTouch)
#pragma config(Motor, port1, motor1, tmotorNormal, openLoop)
#pragma config(Motor, port2, motor2, tmotorNormal, openLoop)
#pragma config(Motor, port3, motor3, tmotorNormal, openLoop)
#pragma config(Motor, port4, motor4, tmotorNormal, openLoop)

#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)

#include "Vex_Competition_Includes.c" //Main competition background code...do not modify!

#define MAX_C 127 //Max direction going clockwise
#define MAX_CC -127 //Max directon going counter-clockwise

void StopMoving(); //Stops all the motors that move the robot
void Move_Y_Axis(int speed, int wait); //Moves the robot up or down
void Move_X_Axis(int speed, int wait); //Moves the robot left or right
void Rotate(); //Rotates the robot
int MotorCheck(int motor); //Makes sure that the motor does not exceed -127 or 127
void ArmControl(int speed, int wait); //Lifts/Lowers the arm
void HandControl(int speed, int wait); //Open/Closes the "hand" of the arm
void Move_XY(int speed, int wait); //Moves the robot diagnolly

void pre_auton()
{
}

task autonomous()
{
AuonomousCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}

task usercontrol()
{
int JoyStick1X, JoyStick2X, JoyStick2Y;
int m1, m2, m3, m4;

while(true) {

JoyStick1X = vexRT[Ch4];
JoyStick2X = vexRT[Ch1];
JoyStick2Y = vexRT[Ch2];

m1 = (JoyStick2X * -1) + (JoyStick1X * -1);
m2 = JoyStick2Y + (JoyStick1X * -1);
m3 = (JoyStick2X) + (JoyStick1X * -1);
m4 = (JoyStick2Y * -1) + (JoyStick1X * -1);

motor[motor1] = MotorCheck(m1);
motor[motor2] = MotorCheck(m2);
motor[motor3] = MotorCheck(m3);
motor[motor4] = MotorCheck(m4);

//Code for arm will go below as soon as I am sure how it will work
}
}

void StopMoving()
{
motor[motor1] = 0;
motor[motor2] = 0;
motor[motor3] = 0;
motor[motor4] = 0;
}

void Move_Y_Axis(int speed, int wait)
{
motor[motor1] = speed;
motor[motor2] = -1 * (speed);
motor[motor3] = speed;
motor[motor4] = -1 * (speed);
wait1Msec(wait);
StopMoving();
}

void Move_X_Axis(int speed, int wait)
{
motor[motor1] = speed;
motor[motor2] = speed;
motor[motor3] = -1 * (speed);
motor[motor4] = -1 * (speed);
wait1Msec(wait);
StopMoving();
}

int MotorCheck(int motor)
{
if(motor >= 127)
{
motor = 127;
}
else if(motor <= -127)
{
motor = -127;
}
return motor;
}


Fri Oct 15, 2010 1:31 am
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Joined: Tue May 15, 2007 9:02 am
Posts: 406
Post Re: Competition Template
When using the Competition Template and testing ahead of time, you must have your robot receiving signals from the Radio Control Transmitter, and follow a specific start-up sequence. You can find detailed documentation here: http://www.robotc.net/support/vex/media/competitions/Testing_Robots_using_the_75MHz_Crystals.pdf

_________________
Jesse Flot
CMU Robotics Academy
ROBOTC Support


Wed Oct 20, 2010 5:19 pm
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