VEX2 Competition

Main >> CORTEX >> Competitions with ROBOTC

Go to File, select "New" and select "Competition Template"

Note: The competition template is a read-only file, so be sure to save a copy of the file somewhere else on your computer.

#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)

With ROBOTC, the competition control is completely user defined and controlled via software, so there are no jumpers required for testing. By changing these settings, the template can be adapted to work with any competition. The three lines above set the VEX controller into the “competition” mode and specify the timing for the match.

#pragma competitionControl(competition_mode) – Controls the Competition mode that the Vex robot will function in. There are two different competition modes that you can pass to this statement:

• OFF – Standard setting. No competition controls.
• Competition – Competition mode. The VEX will respond to Field Controller commands and switch between Autonomous and User Control modes at the competition-specified times. Use this mode for competitions.

#pragma autonomousDuration(time_in_seconds) - Defines the duration of the autonomous phase of a VEX competition. Poor performance may result if this setting does not match the Field Controller settings.

#pragma userControlDuration(time_in_seconds) - Defines the duration of the user control phase of a VEX competition. Poor performance may result if this setting does not match the Field Controller settings.

Phase 1: Pre-Competition

void pre_auton()
{
  // All activities that occur before the competition starts
  // Example: clearing encoders, setting servo positions, ...
}

Place your initialization code inside this function.
During the pre-competition section, code can be executed to configure your robot before the competition begins. Valid code for this section includes tasks such as configuring sensors, setting up reflected motors and setting initial servo positions.

Phase 2: Autonomous

task autonomous()
{
  // .....................................................................................
  // Insert user code here.
  // .....................................................................................
 
  AutonomousCodePlaceholderForTesting();  // Remove this function call once you have "real" code.
}

Place your Autonomous Period code inside this function. The AuonomousCodePlaceholderForTesting() function is only there as a placeholder and can be removed.

During the autonomous period, the robot performs actions autonomously for the length of time specified by the “autonomousDuration(time)” setting. While the robot cannot accept commands from the Transmitter during this time, it still requires that the Transmitter’s signal be present as a safety precaution.

You cannot skip the autonomous period during a competition by shutting the RF Transmitter off. If you shut the RF Transmitter off during the autonomous period, the VEX’s internal timers will pause, potentially causing your robot to enter the User Control period later than it should.

You do not need to use any bIfiAutonomousMode commands when competition programming.

Phase 3: Operator Control

task usercontrol()
{
  // User control code here, inside the loop
 
  while(true) 
  {
    // This is the main execution loop for the user control program. Each time through the loop
    // your program should update motor + servo values based on feedback from the joysticks.
 
    // .....................................................................................
    // Insert user code here. This is where you use the joystick values to update your motors, etc.
    // .....................................................................................
 
    UserControlCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
  }
}

Place your User Controlled Period code inside this function. UserControlCodePlaceholderForTesting() is only there for testing and can be removed once you have placed your own code inside of the while(true) loop.

During the operator controlled period, the robot can accept commands from the Transmitter. This segment of code executes immediately after the autonomous period ends. If you shut the Transmitter off during this period you will not increase the length of the Operator Controller period as the Field Control System determines and controls the length of the human player period.

1. Download code to VEX controller
2. Disconnect the programming cable from the VEX controller
3. Turn both the VEX and the Transmitter off (if not already)
4. Place the VEX robot on a flat surface
5. Turn the VEX controller on
6. Wait 5 seconds
7. Turn the Transmitter on… your Autonomous code should begin, and your User Control code should follow after the correct amount of time has elapsed.

If you are using VEXnet, please see the "Testing with VEXnet" topics under the "Competition with ROBOTC" heading.