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[Programming] 4 autonomous in buttons 
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Phoenix
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Post [Programming] 4 autonomous in buttons
Hello everybody! :bigthumb: i'm having trouble with the programming Im want to put 4 autonomous in my robot with the buttons of the joystick but i dont know how. I request help how i can programming the 4 autonomous in the control? :-( :?:
Sorry bad english, Im mexican an the school stinks to teach english

Im using this cortex


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Thanks for your time

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Fri Jan 10, 2014 7:55 pm
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rcahoon
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Post Re: [Programming] 4 autonomous in buttons
Hi Phoenix,
I'm not sure if you're asking how to select between several different autonomous modes using the buttons of the joystick, or if you're asking about triggering automated behaviors during remote control operation, so here's the answer to both:

Selecting an Autonomous Mode
Unfortunately, joystick input is not available in the pre-autonomous phase during VEX competitions, so using the joystick to select between autonomous modes is probably not a good solution. See the Code Chooser.c sample code in File>>Open Sample Program>>LCD for how to use the VEX LCD to select between multiple autonomous routines (also this article). If you don't have an LCD, you can use touch sensors on the robot:

Assuming you're using the VEX Competition Template that comes with ROBOTC.

Near the top of your program file (after the #pragma statements, and outside of any functions or tasks), declare an int variable:
Code:
int selectedAutonomous = 0;

In the pre_auton() function:
Code:
selectedAutonomous = 0;
while(selectedAutonomous == 0)
{
   if(SensorValue[touchSensor1])          //If the first touch sensor is pressed...
   {
      selectedAutonomous = 1; // select autonomous mode 1
   }
   if(SensorValue[touchSensor2])     //Else, if the second touch sensor is pressed...
   {
      selectedAutonomous = 2; // select autonomous mode 2
   }
   // add more if statements if you want to add more autonomous modes
}

Then make the autonomous task like this:
Code:
task autonomous()
{
   if (selectedAutonomous == 1)
   {
      // put code for autonomous mode 1 here
   }
   else if (selectedAutonomous == 2)
   {
      // put code for autonomous mode 2 here
   }
   // add more else if statements if you want to add more autonomous modes
}


Triggering Automated Behaviors
You can launch a task to perform an automated behavior whenever a joystick button is pushed. Example:
Code:
task behavior1()
{
   // put code for automated behavior here
}

task main()
{
   while(1)
   {
      if (vexRT[Btn5U])
      {
         StartTask(behavior1);
      }
   }
}

Using a task is an easy way to allow the behavior to run simultaneously with any other remote control code you might be using.

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Last edited by rcahoon on Tue Jan 21, 2014 2:45 pm, edited 1 time in total.
Fri Jan 17, 2014 4:19 pm
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Phoenix
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Post Re: [Programming] 4 autonomous in buttons
Thank you very much. :bigthumb: i try to make this for my cortex with sensor thanks for reply! :)
Edit: how to select between several different autonomous modes using the buttons of the joystick <<<<< This is i wanna do

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Phoenix
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Post Re: [Programming] 4 autonomous in buttons
i have a question, i run this program:
Code:
task autonomous1()
{
   motor[dedos]=127;
   wait1Msec(1000);
   motor[dedos]=0;
}
task autonomous2()
{
   motor[linealderecho]=127;
   wait1Msec(500);
   motor[linealderecho]=0;
}
task autonomous3()
{
   motor[linealizquierdo]=127;
   wait1Msec(500);
   motor[linealizquierdo]=0;
}
task autonomous4()
{
   motor[brazo]=127;
   wait1Msec(400);
   motor[brazo]=0;
}

task main()
{
   while(1)
   {
      if (vexRT[Btn7U])
      {
         StartTask(autonomous1);
      }
         else if (vexRT[Btn7D])
      {
         StartTask(autonomous2);
      }
      else if (vexRT[Btn7L])
  {
   StartTask(autonomous3);
 }
 else if(vexRT[Btn7R])
{
   StartTask(autonomous4);
}
}


but i can't run in autonomous mode only in user control mode why?

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rcahoon
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Post Re: [Programming] 4 autonomous in buttons
Phoenix wrote:
i can't run in autonomous mode only in user control mode why?

Hi Phoenix,
See this document for how to add code for autonomous mode in ROBOTC.

Cheers,
--Ryan

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Tue Jan 21, 2014 12:35 pm
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Phoenix
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Post Re: [Programming] 4 autonomous in buttons
When i put my code in the autnomous mode robotc say **Error**:Task 'main' is not defined at global scope level
another question:
is possibly this program only with buttons?
Code:
void pre_auton()
{
 selectedAutonomous = 0;

while(selectedAutonomous == 0)

{
   if(SensorValue[automata1])          //azul_dentro...
   {
      selectedAutonomous = 1; // select autonomous mode 1
   }
   if(SensorValue[automata2])          //azul_fuera...
   {
      selectedAutonomous = 2; // select autonomous mode 1
   }
   if(SensorValue[automata3])          //rojo_dentro...
   {
      selectedAutonomous = 3; // select autonomous mode 1
   }
   if(SensorValue[automata4])          //rojo_fuera...
   {
      selectedAutonomous = 4; // select autonomous mode 1
   }

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rcahoon
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Post Re: [Programming] 4 autonomous in buttons
Phoenix wrote:
When i put my code in the autnomous mode robotc say **Error**:Task 'main' is not defined at global scope level

Make sure you include
Code:
#include "Vex_Competition_Includes.c"

at the top of your program. This is done automatically if you select File>>New>>Competition Template.

Phoenix wrote:
is possibly this program only with buttons?
Code:
void pre_auton()
{
 selectedAutonomous = 0;

while(selectedAutonomous == 0)

{
   if(SensorValue[automata1])          //azul_dentro...
   {
      selectedAutonomous = 1; // select autonomous mode 1
   }
   if(SensorValue[automata2])          //azul_fuera...
   {
      selectedAutonomous = 2; // select autonomous mode 1
   }
   if(SensorValue[automata3])          //rojo_dentro...
   {
      selectedAutonomous = 3; // select autonomous mode 1
   }
   if(SensorValue[automata4])          //rojo_fuera...
   {
      selectedAutonomous = 4; // select autonomous mode 1
   }

That looks correct.

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Tue Jan 21, 2014 1:26 pm
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Phoenix
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Posts: 12
Post Re: [Programming] 4 autonomous in buttons
Thanks for all help but i can't understand this?
Code:
   
selectedAutonomous = 0;
while(selectedAutonomous == 0)
{
   if(SensorValue[touchSensor1])          //If button 5U is pressed...
   {

//If button 5U is pressed...????? :? :crying:

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JohnWatson
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Post Re: [Programming] 4 autonomous in buttons
Phoenix wrote:
Thanks for all help but i can't understand this?
Code:
   
selectedAutonomous = 0;
while(selectedAutonomous == 0)
{
   if(SensorValue[touchSensor1])          //If button 5U is pressed...
   {

//If button 5U is pressed...????? :? :crying:



The 5U button is referring to button 5 Up on the VEXNet Joystick. You can find more information on the VEXNet Joystick Controller here: http://www.robotc.net/wiki/VEX2_Functio ... l_-_VEXnet

Edit: D'oh. The Field Hardware Management software disables all joystick commands before and during the autonomous period of VEX competitions (which makes sense; it's the only way to ensure that teams don't gain an unfair advantage by using their VEXNet Joystick Controllers during the autonomous period. The original quote (below) is therefore false; I apologize for any confusion.

Quote:
Meaning, you can use the VEXNet Joystick Controller to select your autonomous program wirelessly

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Tue Jan 21, 2014 2:41 pm
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rcahoon
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Post Re: [Programming] 4 autonomous in buttons
Phoenix wrote:
If button 5U is pressed...?????

Sorry I copied the code from somewhere else (John is correct that the comment originally referred to a joystick button) and modified it, but forgot to change the comment. It should read
Code:
   
selectedAutonomous = 0;
while(selectedAutonomous == 0)
{
   if(SensorValue[touchSensor1])          //If the first touch sensor is pressed...
   {


I've updated my original post as well

--Ryan

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Last edited by rcahoon on Tue Jan 21, 2014 2:55 pm, edited 2 times in total.
Tue Jan 21, 2014 2:48 pm
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rcahoon
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Post Re: [Programming] 4 autonomous in buttons
JohnWatson wrote:
you can use the VEXNet Joystick Controller to select your autonomous program wirelesslyt

John,
Per Jesse's answer here, the joystick can't be used to select an autonomous program during a competition.

Best,
--Ryan

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Tue Jan 21, 2014 2:53 pm
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Phoenix
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Post Re: [Programming] 4 autonomous in buttons
Thanks a lot for your help but when i change the autonomous mode to user control mode my control don't respond i need to push a sensor touch and that dont look good. here my code, and thanks again for your help :bigthumb: :bigthumb:
Code:
#pragma config(Sensor, dgtl1,  automata1,      sensorTouch)
#pragma config(Sensor, dgtl2,  automata2,      sensorTouch)
#pragma config(Sensor, dgtl3,  automata3,      sensorTouch)
#pragma config(Sensor, dgtl4,  automata4,      sensorTouch)
#pragma config(Motor,  port1,           ruedaizquierda, tmotorVex393, openLoop)
#pragma config(Motor,  port2,           linealizquierdo, tmotorVex393, openLoop)
#pragma config(Motor,  port3,           torreizquierda, tmotorVex393, openLoop)
#pragma config(Motor,  port4,           torrederecha,  tmotorVex393, openLoop)
#pragma config(Motor,  port5,           ruedafrented,  tmotorVex393, openLoop)
#pragma config(Motor,  port6,           dedos,         tmotorVex393, openLoop)
#pragma config(Motor,  port7,           brazo,         tmotorVex393, openLoop)
#pragma config(Motor,  port8,           ruedafrentei,  tmotorVex393, openLoop)
#pragma config(Motor,  port9,           linealderecho, tmotorVex393, openLoop)
#pragma config(Motor,  port10,          ruedaderecha,  tmotorVex393, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#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!
int selectedAutonomous =0;
/////////////////////////////////////////////////////////////////////////////////////////
//
//                          Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////

void pre_auton()
{
 selectedAutonomous = 0;

while(selectedAutonomous == 0)

{
   if(SensorValue[automata1])          //azul_dentro...
   {
      selectedAutonomous = 1; // select autonomous mode 1
   }
   if(SensorValue[automata2])          //azul_fuera...
   {
      selectedAutonomous = 2; // select autonomous mode 1
   }
   if(SensorValue[automata3])          //rojo_dentro...
   {
      selectedAutonomous = 3; // select autonomous mode 1
   }
   if(SensorValue[automata4])          //rojo_fuera...
   {
      selectedAutonomous = 4; // select autonomous mode 1
   }

   // add more if statements if you want to add more autonomous modes
}
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 Autonomous Task
//
// This task is used to control your robot during the autonomous phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////


task autonomous()
{
   //AZUL_DENTRO
if (selectedAutonomous == 1)
   {
    motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrented]=127;
   motor[ruedafrentei]=127;
   wait1Msec(1000);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=-127;
   motor[ruedafrented]=-127;
   motor[ruedafrentei]=127;
   wait1Msec(400);
   
   motor[ruedaizquierda]=-127;
   motor[ruedaderecha]=-127;
   motor[ruedafrented]=-127;
   motor[ruedafrentei]=-127;
   wait1Msec(1300);
   
   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=-127;
   motor[ruedafrented]=-127;
   motor[ruedafrentei]=127;
   wait1Msec(700);
   
   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;

   motor[dedos]=127;
   wait1Msec(1300);

   motor[dedos]=0;
   wait1Msec(100);
   
   motor[ruedaizquierda]=-127;
   motor[ruedaderecha]=-127;
   motor[ruedafrented]=-127;
   motor[ruedafrentei]=-127;
   wait1Msec(2100);
   
   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;
   
   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrented]=127;
   motor[ruedafrentei]=127;
   wait1Msec(100);
 
   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=-127;
   motor[ruedafrented]=-127;
   motor[ruedafrentei]=127;
   wait1Msec(700);
   
   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;
   
   motor[ruedaizquierda]=-127;
   motor[ruedaderecha]=-127;
   motor[ruedafrented]=-127;
   motor[ruedafrentei]=-127;
   wait1Msec(1800);
   
   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;
   
   }
 

  //AZUL_FUERA

   else if (selectedAutonomous == 2)
   {
  motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrented]=127;
   motor[ruedafrentei]=127;
   wait1Msec(390);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;

   motor[torrederecha]=127/2;
   motor[torreizquierda]=127/2;
   wait1Msec(1500);

   motor[torrederecha]=0;
   motor[torreizquierda]=0;

   motor[ruedaizquierda]=127/2;
   motor[ruedaderecha]=127/2;
   motor[ruedafrented]=127/2;
   motor[ruedafrentei]=127/2;
   wait1Msec(900);

   motor[ruedaizquierda]=-127/2;
   motor[ruedaderecha]=-127/2;
   motor[ruedafrented]=-127/2;
   motor[ruedafrentei]=-127/2;
   wait1Msec(600);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;

   motor[dedos]=127;
   wait1Msec(1800);

   motor[dedos]=0;
   wait1Msec(100);

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=-127;
   motor[ruedafrentei]=127;
   motor[ruedafrented]=-127;
   wait1Msec(400);

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrentei]=127;
   motor[ruedafrented]=127;
   wait1Msec(550);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrentei]=0;
   motor[ruedafrented]=0;

   motor[torrederecha]=127/2;
   motor[torreizquierda]=127/2;
   wait1Msec(1000);

   motor[torrederecha]=0;
   motor[torreizquierda]=0;

   motor[ruedaizquierda]=-127;
   motor[ruedaderecha]=127;
   motor[ruedafrentei]=-127;
   motor[ruedafrented]=127;
   wait1Msec(250);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrentei]=0;
   motor[ruedafrented]=0;

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrentei]=127;
   motor[ruedafrented]=127;
   wait1Msec(200);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrentei]=0;
   motor[ruedafrented]=0;
   }

   //ROJO_DENTRO
   else if (selectedAutonomous == 3)
   {
     motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrented]=127;
   motor[ruedafrentei]=127;
   wait1Msec(700);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;

   motor[torrederecha]=127/2;
   motor[torreizquierda]=127/2;
   wait1Msec(600);


   motor[torrederecha]=0;
   motor[torreizquierda]=0;

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=-127;
   motor[ruedafrented]=-127;
   motor[ruedafrentei]=127;
   wait1Msec(350);

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrented]=127;
   motor[ruedafrentei]=127;
   wait1Msec(150);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;

   motor[dedos]=127;
   wait1Msec(1200);

   motor[dedos]=0;
   wait1Msec(100);
   }

   //ROJO_FUERA
   else if (selectedAutonomous == 4)
   {
  motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrented]=127;
   motor[ruedafrentei]=127;
   wait1Msec(390);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;

   motor[torrederecha]=127/2;
   motor[torreizquierda]=127/2;
   wait1Msec(1500);

   motor[torrederecha]=0;
   motor[torreizquierda]=0;

   motor[ruedaizquierda]=127/2;
   motor[ruedaderecha]=127/2;
   motor[ruedafrented]=127/2;
   motor[ruedafrentei]=127/2;
   wait1Msec(500);

   motor[ruedaizquierda]=-127/2;
   motor[ruedaderecha]=-127/2;
   motor[ruedafrented]=-127/2;
   motor[ruedafrentei]=-127/2;
   wait1Msec(200);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrented]=0;
   motor[ruedafrentei]=0;


   motor[ruedaizquierda]=-127;
   motor[ruedaderecha]=127;
   motor[ruedafrentei]=-127;
   motor[ruedafrented]=127;
   wait1Msec(300);

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=127;
   motor[ruedafrentei]=127;
   motor[ruedafrented]=127;
   wait1Msec(700);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrentei]=0;
   motor[ruedafrented]=0;

   motor[ruedaizquierda]=127;
   motor[ruedaderecha]=-127;
   motor[ruedafrentei]=127;
   motor[ruedafrented]=-127;
   wait1Msec(500);

   motor[ruedaizquierda]=0;
   motor[ruedaderecha]=0;
   motor[ruedafrentei]=0;
   motor[ruedafrented]=0;
   wait1Msec(500);

   motor[dedos]=127;
   wait1Msec(1800);

   motor[dedos]=0;
   wait1Msec(100);
   }
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 User Control Task
//
// This task is used to control your robot during the user control phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////

task usercontrol()
{
   // User control code here, inside the loop

   while (1==1)
   {
    // ruedas
   motor[ruedaizquierda]=+vexRT[Ch3]+vexRT[Ch1];
   motor[ruedaderecha]=+vexRT[Ch3]-vexRT[Ch1];
   motor[ruedafrentei]=+vexRT[Ch3]+vexRT[Ch1];
   motor[ruedafrented]=+vexRT[Ch3]-vexRT[Ch1];

// torres
if(vexRT[Btn6U]==1)
{
   motor[torreizquierda]=127;
   motor[torrederecha]=127;
}

   else if(vexRT[Btn6D]==1)
{
   motor[torreizquierda]=-127;
   motor[torrederecha]=-127;
}
   else
{
   motor[torrederecha]=0;
   motor[torreizquierda]=0;
}
// dedos
   if(vexRT[Btn5U]==1)
{
   motor[dedos]=127;
}

   else if(vexRT[Btn5D]==1)
{
   motor[dedos]=-127;
}

   else
{
   motor[dedos]=0;
}
//LINEARES

if(vexRT[Btn8U]==1)
{
   motor[linealderecho]=127;
   motor[linealizquierdo]=127;
}
else if(vexRT[Btn8D]==1)
{
   motor[linealderecho]=-127;
   motor[linealizquierdo]=-127;
}
else
{
motor[linealderecho]=0;
motor[linealizquierdo]=0;
}

//BRAZO

if(vexRT[Btn8L]==1)
{
   motor[brazo]=-127;
}
else if(vexRT[Btn8R]==1)
{
   motor[brazo]=127;
}
else
{
   motor[brazo]=0;
}
}
}

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Team 7472-C CoBaCu

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Tue Jan 21, 2014 3:44 pm
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rcahoon
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Joined: Tue Oct 09, 2012 10:34 am
Posts: 192
Post Re: [Programming] 4 autonomous in buttons
Phoenix wrote:
when i change the autonomous mode to user control mode my control don't respond i need to push a sensor touch

Try changing
Code:
while(selectedAutonomous == 0)

to
Code:
while(bIfiRobotDisabled)

_________________
Ryan Cahoon
CMU Robotics Academy
RVW Software Developer

Robot Potato Head; Virtual NXT
Tue Jan 21, 2014 4:00 pm
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Phoenix
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Joined: Mon Sep 02, 2013 12:54 pm
Posts: 12
Post Re: [Programming] 4 autonomous in buttons
it work's... but now dont run the autonomous when i push a sensor touch
only in that line change the code?
Code:
while(bIfiRobotDisabled)
:?: :?:

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Team 7472-C CoBaCu

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Tue Jan 21, 2014 4:30 pm
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rcahoon
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Joined: Tue Oct 09, 2012 10:34 am
Posts: 192
Post Re: [Programming] 4 autonomous in buttons
It's probably because you aren't running the full field control system.

Try
Code:
while(bIfiRobotDisabled || bIfiAutonomousMode)

_________________
Ryan Cahoon
CMU Robotics Academy
RVW Software Developer

Robot Potato Head; Virtual NXT
Tue Jan 21, 2014 4:34 pm
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