Datasets:
AscendRobotics
/
AscendData

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task myTask2 = task(opticalModeLoop);
}
void pre_auton(void) {
init();
Inertial1.calibrate();
Inertial2.calibrate();
}
void usercontrol(void) {
auton = false;
flywheelTargetRPM = 1800;
gain = defaultGain;
tripleShooting = false;
while (1) {
driveCode();
//testing with encoders
/*
Controller1.Screen.clearScreen();
Controller1.Screen.setCursor(1, 1);
Controller1.Screen.print(RightEncoder.position(degrees));
Controller1.Screen.newLine();
Controller1.Screen.print(LeftEncoder.position(degrees));
Controller1.Screen.newLine();
Controller1.Screen.print(BackEncoder.position(degrees));
*/
//copied from jpearman
// Draw an area representing the vision sensor field of view
if (drawMode == 2) {
Brain.Screen.clearScreen( vex::color::black );
Brain.Screen.setPenColor( vex::color::green );
Brain.Screen.drawRectangle( screen_origin_x-1, screen_origin_y-1, screen_width+2, screen_height+2 );
// request any objects with signature 1
int numberObjects = VisionSensor.takeSnapshot(VisionSensor__RED_GOAL);
Brain.Screen.setPenColor( vex::color::white );
Brain.Screen.setFont( mono20 );
Brain.Screen.setCursor( 2, 2 );
Brain.Screen.print( "Sig 1 %2d", (int)numberObjects );
// draw any objects found
drawObjects( VisionSensor, vex::color::red, true );
numberObjects = VisionSensor.takeSnapshot(VisionSensor__BLUE_GOAL);
// draw any objects found
drawObjects( VisionSensor, vex::color::blue, false );
wait(180, msec);
}
wait(20, msec);
}
}
int main() {
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
// Set up callbacks for autonomous and driver control periods.
Competition.autonomous(autonomousProgram);
Competition.drivercontrol(usercontrol);
// Run the pre-autonomous function, basically initialize
pre_auton();
// Prevent main from exiting with an infinite loop.
while (true) {
checkOverheating();
//printController(Optical.hue());
wait(20, msec);
}
}
Full Over Under Code
//necessary stuff
#include "vex.h"
#include <iostream>
#include <cmath>
#include <vector>
#include <cstdlib>
using namespace vex;
competition Competition;
//global variables
bool auton = false; //whether or not the robot is being controlled autonomously
float driveSpeed = 1.0f; //driving (forward and backward) speed of the robot
float turnSpeed = .6f; //turning speed of the robot
int drawMode = 3; //what to draw on the brain screen? 0: flywheel 1: PID 2: vision sensor 3: status update 4: odom
int tempDrawMode = 0; //store the previous draw mode temporarily
int overHeatingTimer = 0; //keeps track of how often to display an overheating warning
int autonType = 2; //the type of autonomous to use
float driveDistance = 0; //drive distance for drive PID
float speedPID = 1; // the speed to run the motors at in PID loops, range is 0-1
bool kickerOn = false; //true or false, whether or not the kicker is on right now
bool intakeOn = false; //true or false, whether or not the kicker is on right now
bool wingsActive = false; //true or false, whether or not the wings are active
bool elevationActive = false; //true or false, whether or not the elevation mechanism is active
bool scraperActive = false; //true or false, whether or not the scraper is active
bool exitPID = false; //true or false, whether or not to exit a PID loop
bool curveDrive = true; //true or false, whether or not the curve drive is active
task autonTask; //stores the autonomous task
//helper functions
void printController(float i) {
//prints a number to the controller console (very handy for debugging)
Controller1.Screen.clearLine(3);
Controller1.Screen.setCursor(3, 1);
Controller1.Screen.print(i);
}
void printControllerSetup() {
//sets up the controller to be printed on
Controller1.Screen.clearLine(3);