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programming:using_templates

RobotC Templates

Open RobotC, go to the File menu, then select “Open Sample Program”. The templates are in the “Template” folder.

Competition Template

Note: To operate the robot while using the competition template in a non-competition environment, you need to be using a Competition Switch.

/*---------------------------------------------------------------------------*/
/*                                                                           */
/*        Description: Competition template for VEX EDR                      */
/*                                                                           */
/*---------------------------------------------------------------------------*/
 
// This code is for the VEX cortex platform
#pragma platform(VEX2)
 
// Select Download method as "competition"
#pragma competitionControl(Competition)
 
//Main competition background code...do not modify!
#include "Vex_Competition_Includes.c"
 
/*---------------------------------------------------------------------------*/
/*                          Pre-Autonomous Functions                         */
/*                                                                           */
/*  You may want to perform some actions before the competition starts.      */
/*  Do them in the following function.  You must return from this function   */
/*  or the autonomous and usercontrol tasks will not be started.  This       */
/*  function is only called once after the cortex has been powered on and    */
/*  not every time that the robot is disabled.                               */
/*---------------------------------------------------------------------------*/
 
void pre_auton()
{
  // Set bStopTasksBetweenModes to false if you want to keep user created tasks
  // running between Autonomous and Driver controlled modes. You will need to
  // manage all user created tasks if set to false.
  bStopTasksBetweenModes = true;
 
	// Set bDisplayCompetitionStatusOnLcd to false if you don't want the LCD
	// used by the competition include file, for example, you might want
	// to display your team name on the LCD in this function.
	// bDisplayCompetitionStatusOnLcd = false;
 
  // All activities that occur before the competition starts
  // Example: clearing encoders, setting servo positions, ...
}
 
/*---------------------------------------------------------------------------*/
/*                                                                           */
/*                              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()
{
  // ..........................................................................
  // Insert user code here.
  // ..........................................................................
 
  // Remove this function call once you have "real" code.
  AutonomousCodePlaceholderForTesting();
}
 
/*---------------------------------------------------------------------------*/
/*                                                                           */
/*                              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 (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.
    // ........................................................................
 
    // Remove this function call once you have "real" code.
    UserControlCodePlaceholderForTesting();
  }
}

Driver Skills Template

#pragma platform(VEX)
 
//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(0)
#pragma userControlDuration(60)
 
#include "Vex_Competition_Includes.c"   //Main competition background code...do not modify!
 
/////////////////////////////////////////////////////////////////////////////////////////
//
//                         Driver Skills Template
//
// This is a template for the driver skills competition. It is identical in structure to
// the standard competition template except that the two "#pragma' statements above (and
// copied below) adjust the time limits for the competition.
//				#pragma autonomousDuration(0)
//				#pragma userControlDuration(60)
// The autonomous duration for "Driver Skills" is zero; i.e. there is no autonomous phase.
// The user control duration is 60 seconds
//
// NOTE: The above two pragmas only impact the Crystal implementation. For systems using
//       VEXNET, the VEXNET system ignores these statements as it has the durations
//       for the competition built-in.
//
// Whenever this user program is run, the duration is automatically sent to the VEX master
// processor. The master CPU will only accept these commands once per power=on cycle. So, it's
// best to power cycle your VEX to ensure that they get recognized in case you were
// previously running a standard competition program with different durations.
//
// Testing Via Crystals:
// ====================
//
// The procedure to test a Driver Skills program using the crystals is as follows:
//
// 1. Turn off power to the Crystal transmitter/joysticks.
//
// 2. Turn on your VEX so that the Driver Skills program is running.
//
// 3. Driver skills program segment of your program will start running. At the end of 60
//    seconds the VEX Master CPU will turn off the motors.
//
// 4. Repeat the above sequence
//
//
// Testing Via VEXNET Using VEXNET Competition Switch
// ==================================================
//
// The procedure to test a Driver Skills program using VEXNET Competition Switch is as follows:
//
// 1. Set the two switches on the Competition switch to "DISABLE" and "USER CONTROL"
//
// 2. Start the Driver skills program
//
// 3. Set Switch to ENABLE from DISABLE
//
// 4. You need to manually time the 60 second duration.
//
// 5. Set Switch to DISABLE
//
// 6. Repeat from step (3) to run subsequent test runs. There's no need to reset the VEX or
//    restart your user program.
//
//
// Testing Via VEXNET Using ROBOTC IDE
// ==================================================
//
// It is not necessary to own a VEXNET switch. ROBOTC has a test window that allows the same functionality.
// The test window has three buttons for "DISABLE", "AUTONOMOUS", "USER CONTROL".
//
// 1. Open the ROBOTC Debugger. Then open the "Competition Control" Debugger window.
//
// 2. Start your Driver Skills program running.
//
// 3. Click the "DISABLED" button on the "Competition Control" window.
//
// 4. Click the "USER CONTROL" button on the "Competition Control" window.
//
// 5. You need to manually time the 60 second duration.
//
// 6. Click the "DISABLED" button on the "Competition Control" window.
//
// 7. Repeat from step (4) to run subsequent test runs. There's no need to reset the VEX or
//    restart your user program.
//
/////////////////////////////////////////////////////////////////////////////////////////
 
/////////////////////////////////////////////////////////////////////////////////////////
//
//                          Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////
 
void pre_auton()
{
  // Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
  // Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
  bStopTasksBetweenModes = true;
 
	// All activities that occur before the competition starts
	// Example: clearing encoders, setting servo positions, ...
}
 
/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 Autonomous Task
//
// The "Driver Skills" competition has no autonomous phase. Simply leave the following
// placeholder.
//
/////////////////////////////////////////////////////////////////////////////////////////
 
task autonomous()
{
	AutonomousCodePlaceholderForTesting();  // Remove this function call once you have "real" code.
}
 
/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 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 (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.
	  motor[port2] = vexRT[Ch1];							// Remove these as well and replace with your appropriate code
	  motor[port3] = vexRT[Ch4];							// Remove these as well and replace with your appropriate code
	}
}
programming/using_templates.txt · Last modified: 2017/05/31 08:10 by pruckelshaus