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vex.h
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vex.h
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/*----------------------------------------------------------------------------*/
/* */
/* Module: vex.h */
/* Author: Vex Robotics */
/* Created: 1 Feb 2019 */
/* Description: Default header for V5 projects */
/* */
/*----------------------------------------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "v5.h"
#include "v5_vcs.h"
vex::brain Brain;
vex::controller Controller1 = vex::controller();
//drive
vex::motor LF = vex::motor(vex::PORT1,vex::gearSetting::ratio18_1,false);
vex::motor LB = vex::motor(vex::PORT2,vex::gearSetting::ratio18_1,false);
vex::motor RF = vex::motor(vex::PORT9,vex::gearSetting::ratio18_1,true); //true=reversed
vex::motor RB = vex::motor(vex::PORT10,vex::gearSetting::ratio18_1,true);
//lift
vex::motor lift = vex::motor(vex::PORT4,vex::gearSetting::ratio18_1,false);
//puncher
vex::motor puncherLeft = vex::motor(vex::PORT5,vex::gearSetting::ratio36_1,true);
vex::motor puncherRight = vex::motor(vex::PORT6,vex::gearSetting::ratio36_1,false);
//intake
vex::motor intake = vex::motor(vex::PORT7,vex::gearSetting::ratio18_1,true);
//sensors
//vex::analog_in BallSenseTop = vex::analog_in(Brain.ThreeWirePort.B);
//vex::analog_in BallSenseMiddle = vex::analog_in(Brain.ThreeWirePort.C);
//vex::analog_in BallSenseBottom = vex::analog_in(Brain.ThreeWirePort.D);
vex::analog_in AtonSelectOne = vex::analog_in(Brain.ThreeWirePort.B);
vex::analog_in AtonSelectTwo = vex::analog_in(Brain.ThreeWirePort.C);
//motivational quote
void littleCeasars(){
Controller1.Screen.print("lEtS gEt tHiS bReAd");
}
/*---------------------------------------------------------------------------*/
/* */
/* User Control Functions */
/* */
/*---------------------------------------------------------------------------*/
//drive-- check out https://www.desmos.com/calculator/p4fucwmiqb
int verifyLeftJoy(){
int count=0;
if(-((Controller1.Axis4.value()*Controller1.Axis4.value())/31.75)+31.75>=Controller1.Axis3.value()){
count++;
}
if(((Controller1.Axis4.value()*Controller1.Axis4.value())/31.75)-31.75<=Controller1.Axis3.value()){
count++;
}
if(-((Controller1.Axis3.value()*Controller1.Axis3.value())/31.75)+31.75>=Controller1.Axis4.value()){
count++;
}
if(((Controller1.Axis3.value()*Controller1.Axis3.value())/31.75)-31.75<=Controller1.Axis4.value()){
count++;
}
if(count==1){
if(-((Controller1.Axis4.value()*Controller1.Axis4.value())/31.75)+31.75>=Controller1.Axis3.value()){
return 1;
}else if(((Controller1.Axis4.value()*Controller1.Axis4.value())/31.75)-31.75<=Controller1.Axis3.value()){
return 1;
}else if(-((Controller1.Axis3.value()*Controller1.Axis3.value())/31.75)+31.75>=Controller1.Axis4.value()){
return 2;
}else if(((Controller1.Axis3.value()*Controller1.Axis3.value())/31.75)-31.75<=Controller1.Axis4.value()){
return 2;
}
}else{
return 0;
}
}
int verifyRightJoy(){
int count=0;
if(-((Controller1.Axis1.value()*Controller1.Axis1.value())/31.75)+31.75>=Controller1.Axis2.value()){
count++;
}
if(((Controller1.Axis1.value()*Controller1.Axis1.value())/31.75)-31.75<=Controller1.Axis2.value()){
count++;
}
if(-((Controller1.Axis2.value()*Controller1.Axis2.value())/31.75)+31.75>=Controller1.Axis1.value()){
count++;
}
if(((Controller1.Axis2.value()*Controller1.Axis2.value())/31.75)-31.75<=Controller1.Axis1.value()){
count++;
}
if(count==1){
if(-((Controller1.Axis1.value()*Controller1.Axis1.value())/31.75)+31.75>=Controller1.Axis2.value()){
return 1;
}else if(((Controller1.Axis1.value()*Controller1.Axis1.value())/31.75)-31.75<=Controller1.Axis2.value()){
return 1;
}else if(-((Controller1.Axis2.value()*Controller1.Axis2.value())/31.75)+31.75>=Controller1.Axis1.value()){
return 2;
}else if(((Controller1.Axis2.value()*Controller1.Axis2.value())/31.75)-31.75<=Controller1.Axis1.value()){
return 2;
}
}else{
return 0;
}
}
//strafing with joystick control
bool reverseDrive=false;
void DriveCont(){
if(!reverseDrive)
if(verifyLeftJoy()==1){
LF.spin(vex::directionType::fwd, Controller1.Axis3.value(), vex::velocityUnits::pct);
LB.spin(vex::directionType::fwd, Controller1.Axis3.value(), vex::velocityUnits::pct);
}else if(verifyLeftJoy()==2){
LF.spin(vex::directionType::fwd, Controller1.Axis4.value()*1, vex::velocityUnits::pct);
LB.spin(vex::directionType::fwd, Controller1.Axis4.value()*-1, vex::velocityUnits::pct);
RF.spin(vex::directionType::fwd, Controller1.Axis4.value()*-1, vex::velocityUnits::pct);
RB.spin(vex::directionType::fwd, Controller1.Axis4.value()*1, vex::velocityUnits::pct);
}
if(verifyRightJoy()==1){
RF.spin(vex::directionType::fwd, Controller1.Axis2.value(), vex::velocityUnits::pct);
RB.spin(vex::directionType::fwd, Controller1.Axis2.value(), vex::velocityUnits::pct);
}else if(verifyRightJoy()==2){
LF.spin(vex::directionType::fwd, Controller1.Axis1.value()*1, vex::velocityUnits::pct);
LB.spin(vex::directionType::fwd, Controller1.Axis1.value()*-1, vex::velocityUnits::pct);
RF.spin(vex::directionType::fwd, Controller1.Axis1.value()*-1, vex::velocityUnits::pct);
RB.spin(vex::directionType::fwd, Controller1.Axis1.value()*1, vex::velocityUnits::pct);
}
if(verifyRightJoy()==0 and verifyLeftJoy()==0){
if(Controller1.ButtonR1.pressing() or Controller1.ButtonL2.pressing() or Controller1.ButtonDown.pressing() or Controller1.ButtonX.pressing()){
LF.stop(vex::brakeType::hold);
LB.stop(vex::brakeType::hold);
RF.stop(vex::brakeType::hold);
RB.stop(vex::brakeType::hold);
}else{
LF.stop(vex::brakeType::coast);
LB.stop(vex::brakeType::coast);
RF.stop(vex::brakeType::coast);
RB.stop(vex::brakeType::coast);
}
}
}
double sgn(double number){
if (number > 0) number = 1;
else number = -1;
return number;
}
//set lift power
void setLiftMotorPower (int power){
if(power==0) lift.stop(vex::brakeType::hold);
else{
lift.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setLiftPower (int pow){
setLiftMotorPower(pow);
}
//lift
void LiftCont(){
if(Controller1.ButtonL2.pressing()){ //if buttonL2, lift up
setLiftPower(100);
}
else if(Controller1.ButtonDown.pressing()){ //if buttonDown, lift down
setLiftPower(-100);
}
else setLiftPower(0);
}
//set puncher power
void setPuncherLeftPower (int power){
if(power==0) puncherLeft.stop(vex::brakeType::hold);
else{
puncherLeft.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setPuncherRightPower (int power){
if(power==0) puncherRight.stop(vex::brakeType::hold);
else{
puncherRight.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setPuncherPower (int left, int right){
setPuncherLeftPower(left);
setPuncherRightPower(right);
}
//puncher
void PuncherCont(){ //if buttonR1, shoot
if(Controller1.ButtonR1.pressing()){
setPuncherPower(100,100);
}
else { //hold in place
setPuncherPower(0,0);
}
}
/*void PunchersRotateTo(double pos){
puncherLeft.rotateTo(pos,vex::rotationUnits::deg,100,vex::velocityUnits::pct);
puncherRight.rotateTo(pos,vex::rotationUnits::deg,100,vex::velocityUnits::pct);
}*/
//void PunchCal(){
// PunchersRotateTo(/*inital cal amount*/);
//}
/*bool DoubleRun=false;
void NatesDoublePunchTest(){
if(Controller1.ButtonR1.pressing() && DoubleRun==false){
while(Controller1.ButtonR1.pressing()){
//shoot first time
//shoot seconed time
DoubleRun=true;
}
if((DoubleRun=false)){
//shoot once
}
}
}
bool DoubleShotEnable=false;
int Double_Shot(){
PunchCal();
DoubleShotEnable = true;
while(DoubleShotEnable){
NatesDoublePunchTest();
}
}*/
//set intake power
void setIntakeMotorPower (int power){
if(power==0) intake.stop(vex::brakeType::coast);
else{
intake.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setIntakePower (int pow){
setIntakeMotorPower(pow);
}
//intake
void IntakeCont(){
if(Controller1.ButtonR2.pressing()){ //if buttonR2, intake
setIntakePower(100);
}
else if(Controller1.ButtonL1.pressing()){ //if buttonL1, detake
setIntakePower(-100);
}
else intake.stop(vex::brakeType::coast);
}
/*---------------------------------------------------------------------------*/
/* */
/* Autonomous Functions */
/* */
/*---------------------------------------------------------------------------*/
//math vars
double abs(double Var) {
if (Var < 0) Var = Var * (-1);
return Var;
}
//set drive power
void setLFPower (int power){
if(power==0) LF.stop(vex::brakeType::coast);
else{
LF.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setLBPower (int power){
if(power==0) LB.stop(vex::brakeType::coast);
else{
LB.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setRFPower (int power){
if(power==0) RF.stop(vex::brakeType::coast);
else{
RF.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setRBPower (int power){
if(power==0) RB.stop(vex::brakeType::coast);
else{
RB.spin(vex::directionType::fwd,power,vex::velocityUnits::pct);
}
}
void setMechDrivePower(int LF,int LB,int RF,int RB){
setLFPower(LF);
setLBPower(LB);
setRFPower(RF);
setRBPower(RB);
}
void DriveMechPowerSend(int j1,int j2,int j3=0,int j4=0){//left,right,side1,side2
int LF=j1;//left
int RF=j2;//right
int SD=(j3+j4)/2;//side
setMechDrivePower(//left go apart && right go into when going right
LF+SD,
LF-SD,
RF-SD,
RF+SD);
}
void setDrivePower(int left, int right){
setLFPower(left);
setLBPower(left);
setRFPower(right);
setRBPower(right);
}
//drive with ramping
bool DriveRampingEnabled;
class Ramping{
public:
int ChangePct=1; //the amout of Pct change per loop
int ChangeMsec=1; //the amount of time in between loops
int RequestedPct=0; //used to request Pct value change
int Pct=0; //Pct output
int MinUpPct=0; //used as moveing up StillSpeed
int MinDownPct=0; //used as moving down StillSpeed
int MaxPct=100; //the max pct value
Ramping(); //object specifer
Ramping(int CP,int CM,int MaxP=100,int MinDP=0,int MinUP=0){
//ChangePct,ChangeMsec,MaxPct
ChangePct=CP;
ChangeMsec=CM;
MaxPct=MaxP;
MinUpPct=MinUP;
MinDownPct=MinDP;
}
void TaskRun(){
if(RequestedPct>Pct){ //ramp up
Pct=Pct+ChangePct;
}
else if(RequestedPct<Pct){ //ramp down
Pct=Pct-ChangePct;
}
//limit Pct
if(Pct>MaxPct) Pct=MaxPct;
if(Pct<-MaxPct) Pct=-MaxPct;
if(Pct>0 && Pct<MinUpPct) Pct=MinUpPct;
if(Pct<0 && Pct>MinDownPct) Pct=MinDownPct;
}
}; //end of task
Ramping LFDR(1,6);
Ramping LBDR(1,6);
Ramping RFDR(1,6);
Ramping RBDR(1,6);
int Drive_Ramping(){
DriveRampingEnabled=true;
while(DriveRampingEnabled){
LFDR.TaskRun();
LBDR.TaskRun();
RFDR.TaskRun();
RBDR.TaskRun();
setDrivePower(LFDR.Pct, RFDR.Pct);
vex::task::sleep(LFDR.ChangeMsec);
}
return 1;
}
void SetDRpower(int LFpower,int LBpower,int RFpower,int RBpower){ //DMR
LFDR.RequestedPct = LFpower;
RFDR.RequestedPct = RFpower;
LBDR.RequestedPct = LBpower;
RBDR.RequestedPct = RBpower;
}
void DI(int Lpower,int Rpower){
LFDR.RequestedPct=Lpower;
RFDR.RequestedPct=Rpower;
LBDR.RequestedPct=Lpower;
RBDR.RequestedPct=Rpower;
LFDR.Pct=Lpower;
RFDR.Pct=Rpower;
LBDR.Pct=Lpower;
RBDR.Pct=Rpower;
setDrivePower(LBDR.Pct,RBDR.Pct);
}
//drive ramping with auto straightening
void AtonDriveRamp(double Distance,int Pct=100,int EndWait=200, int Correction=1){
//update ramping speed
LFDR.ChangeMsec = 6;
RFDR.ChangeMsec = 6;
LBDR.ChangeMsec = 6;
RBDR.ChangeMsec = 6;
double Direction=sgn(Distance);
int LFPowerSend=0;
int LBPowerSend=0;
int RFPowerSend=0;
int RBPowerSend=0;
//clear encoder
LF.resetRotation();
LB.resetRotation();
RF.resetRotation();
RB.resetRotation();
//is it there yet?
while(abs(LF.rotation(vex::rotationUnits::deg))<abs(Distance)){
double LEncValue=LF.rotation(vex::rotationUnits::deg);
double REncValue=RB.rotation(vex::rotationUnits::deg);
//straighten
if(abs(LEncValue)>abs(REncValue)){
LFPowerSend=Pct-Correction;
LBPowerSend=Pct-Correction;
RFPowerSend=Pct;
RBPowerSend=Pct;
}
else if(abs(LEncValue)<abs(REncValue)){
LFPowerSend=Pct;
LBPowerSend=Pct;
RFPowerSend=Pct-Correction;
RBPowerSend=Pct-Correction;
}
else if(abs(LEncValue)==abs(REncValue)){
LFPowerSend=Pct;
LBPowerSend=Pct;
RFPowerSend=Pct;
RBPowerSend=Pct;
}
//correct direction
LFPowerSend=LFPowerSend*Direction;
LBPowerSend=LBPowerSend*Direction;
RFPowerSend=RFPowerSend*Direction;
RBPowerSend=RBPowerSend*Direction;
//send to SetDRpower
SetDRpower(LFPowerSend,LBPowerSend,RFPowerSend,RBPowerSend);
vex::task::sleep(1);
}
SetDRpower(0,0,0,0);
vex::task::sleep(EndWait);
}
void AtonTurn(double deg,int LPowerSend=50,int RPowerSend=50,int waitTime=200){ //-left, +right
int Dir=sgn(deg);
deg=abs(deg)/12.56;
LPowerSend=LPowerSend*Dir;
RPowerSend=RPowerSend*Dir;
LF.resetRotation();
LB.resetRotation();
RF.resetRotation();
RB.resetRotation();
while((abs(LF.rotation(vex::rotationUnits::rev))) <abs(deg)){
DI(LPowerSend,-RPowerSend);
vex::task::sleep(1);
}
DI(0,0);
vex::task::sleep(waitTime);
}
void AtonLock(){
LF.stop(vex::brakeType::hold);
LB.stop(vex::brakeType::hold);
RF.stop(vex::brakeType::hold);
RB.stop(vex::brakeType::hold);
}
//lift
void LiftMove(int pos, int power=100){
lift.resetRotation();
lift.startRotateFor(pos,vex::rotationUnits::deg,power,vex::velocityUnits::pct);
lift.setStopping(vex::brakeType::hold);
}
void AtonLift(int rotations, int power = 100){
int direction = sgn(rotations);
while(abs(lift.rotation(vex::rotationUnits::deg))<abs(rotations)){
setLiftPower(power*direction);
}
setLiftPower(0);
}
//puncher
void AtonFire(int rotations = 360, int power = 100){
int direction = sgn(rotations);
puncherLeft.resetRotation();
puncherRight.resetRotation();
//rotate puncher for 360deg and then hold in place using brakeType::hold
while(abs(puncherLeft.rotation(vex::rotationUnits::deg))<abs(rotations)){
setPuncherPower(power*direction, power*direction);
}
setPuncherPower(0,0);
}
void Pull(int rotations = 150, int power = 100){
int direction = sgn(rotations);
puncherLeft.resetRotation();
puncherRight.resetRotation();
//rotate puncher for 180deg and then hold in place using brakeType::hold
while(abs(puncherLeft.rotation(vex::rotationUnits::deg))<abs(rotations)){
setPuncherPower(power*direction, power*direction);
}
setPuncherPower(0,0);
}
//intake
void AtonIn(int rotations = 200, int power = 100){
int direction = sgn(rotations);
intake.resetRotation();
//intake for a certain about of degrees then stop using brakeType::coast
while(abs(intake.rotation(vex::rotationUnits::deg))<abs(rotations)){
setIntakePower(power*direction);
}
setIntakePower(0);
}
void AtonTake(bool On, bool In){
if(On){
if(In){
setIntakePower(100);
}
if(!In){
setIntakePower(-100);
}
}
if(!On){
intake.stop();
}
}
//auto intake vars
/*int BottomLightValue;
int TopLightValue;
int MiddleLightValue;
int BottomBallInMax = 50;
int TopBallInMax = 50;
bool BallInBottom;
bool BallInTop;
bool AutoIntakeEnabled = true;
bool AutoIntakeTaskEnabled = false;
bool AutoIntakeOff = false;
bool AutoFlip=false;
void Auto_Intake() {
BottomLightValue = BallSenseBottom.value(vex::percentUnits::pct);
MiddleLightValue = BallSenseMiddle.value(vex::percentUnits::pct);
TopLightValue = BallSenseTop.value(vex::percentUnits::pct);
if (BottomLightValue < BottomBallInMax || MiddleLightValue < BottomBallInMax) BallInBottom = true;
else BallInBottom = false;
if (TopLightValue < TopBallInMax) BallInTop = true;
else BallInTop = false;
if(AutoIntakeOff){
setIntakePower(0);
if(AutoFlip) setIntakePower(-100);
}
else if(BallInBottom && BallInTop){
setIntakePower(0);
}
else{
setIntakePower(0);
}
}
int Auto_Intaking(){
AutoIntakeTaskEnabled = true;
// AutoIntakeEnabled = true;
while(AutoIntakeTaskEnabled){
if(AutoIntakeEnabled){Auto_Intake();}
else if(!AutoIntakeEnabled){}
vex::task::sleep(20);
}
setIntakePower(0);
return 1;
}*/
/*---------------------------------------------------------------------------*/
/* */
/* Autonomous Modes */
/* */
/*---------------------------------------------------------------------------*/
void wait (int Msec){
vex::task::sleep(Msec);
}
void FrntRedFlag(){ //needs slight tuning //Q44
Pull();
AtonLift(-10);
AtonDriveRamp(780);
AtonIn();
AtonDriveRamp(-560);
wait(500);
AtonTurn(-13.75);
AtonDriveRamp(40,25);
AtonFire();
AtonTake(true,true);
AtonLift(190);
wait(100);
AtonFire();
AtonTurn(-0.5);
AtonDriveRamp(900);
AtonDriveRamp(-400);
AtonTurn(6.5);
AtonTake(false,false);
AtonIn(-200);
AtonFire();
AtonTake(true,false);
AtonDriveRamp(500);
AtonTake(false,false);
}
void FrntRedPrk(){ //tuned
Pull();
AtonLift(-10);
AtonDriveRamp(780);
AtonIn();
AtonDriveRamp(-570);
wait(500);
AtonTurn(-14);
AtonDriveRamp(40,25);
AtonFire();
AtonTake(true,true);
AtonLift(150);
wait(100);
AtonFire();
AtonTurn(-0.5);
AtonDriveRamp(900);
AtonDriveRamp(-1565);
AtonTake(false,false);
AtonTurn(-18.55);
AtonDriveRamp(-1100);
AtonLock();
}
void FrntBlueFlag(){ //needs tuning
Pull();
AtonLift(-10);
AtonDriveRamp(780);
AtonIn();
AtonDriveRamp(-740);
AtonTurn(12.5);
AtonDriveRamp(100,25);
AtonFire();
AtonTake(true,true);
AtonLift(150);
wait(50);
AtonFire();
AtonDriveRamp(800);
AtonDriveRamp(-400);
AtonTurn(-11.6);
AtonTake(false,false);
AtonIn(-200);
AtonFire();
AtonTake(true,false);
AtonDriveRamp(500);
AtonTake(false,false);
}
void FrntBluePrk(){ //needs tuning //Q11
Pull();
AtonLift(-10);
AtonDriveRamp(780);
AtonIn();
AtonDriveRamp(-550);
wait(500);
AtonTurn(14);
AtonDriveRamp(50,25);
AtonFire();
AtonTake(true,true);
AtonLift(150);
wait(100);
AtonFire();
AtonTurn(0.35);
AtonDriveRamp(900);
AtonDriveRamp(-1565);
AtonTake(false,false);
AtonTurn(13);
AtonDriveRamp(-1100);
AtonLock();
}
void BckRedSniper(){ //needs tuning
Pull();
AtonLift(-10);
AtonDriveRamp(800);
wait(10);
AtonIn();
wait(10);
AtonDriveRamp(-221,75,500);
AtonTurn(-7.5,50,50,500);
AtonLift(125);
wait(8000);
AtonFire();
AtonTake(true,true);
AtonLift(350);
AtonDriveRamp(-300);
AtonTake(false,false);
AtonFire();
}
void BckRedSnipePrk(){ //tuned //P6 //Q147
Pull();
AtonLift(-10);
AtonDriveRamp(800);
wait(10);
AtonIn();
wait(10);
AtonDriveRamp(-220,75,500);
AtonTurn(-7.5,50,50,500);
AtonLift(125);
wait(2500);
AtonFire();
AtonTake(true,true);
AtonLift(350);
AtonDriveRamp(-320);
AtonTake(false,false);
AtonFire();
AtonTurn(24.5);
AtonDriveRamp(-925);
AtonTurn(11.9);
AtonDriveRamp(-1400);
AtonLock();
}
void BckBlueSniper(){ //needs tuning
Pull();
AtonLift(-10);
AtonDriveRamp(780);
AtonIn();
AtonDriveRamp(-200,75,500);
AtonTurn(7.4,50,50,500);
AtonLift(125);
wait(8000);
AtonFire();
AtonTake(true,true);
AtonLift(350);
AtonDriveRamp(-320);
AtonTake(false,false);
AtonFire();
}
void BckBlueSnipePrk(){ //needs tuning
Pull();
AtonLift(-10);
AtonDriveRamp(780);
AtonIn();
AtonDriveRamp(-200,75,500);
AtonTurn(7.4,50,50,500);
AtonLift(125);
wait(2500);
AtonFire();
AtonTake(true,true);
AtonLift(350);
AtonDriveRamp(-320);
AtonTake(false,false);
AtonFire();
AtonTurn(-24.5);
AtonDriveRamp(-900);
AtonTurn(-18);
AtonDriveRamp(-1800);
}
/*---------------------------------------------------------------------------*/
/* */
/* Autonomous Selector */
/* */
/*---------------------------------------------------------------------------*/
void AtonPots(){
int SelectValueOne = AtonSelectOne.value(vex::percentUnits::pct);
int SelectValueTwo = AtonSelectTwo.value(vex::percentUnits::pct);
if(SelectValueOne > 60){
if(SelectValueTwo > 80){
FrntRedFlag();
}
else if(SelectValueTwo > 50){
FrntRedPrk();
}
else if(SelectValueTwo > 30){
//none
}
else if(SelectValueTwo >= 0){
//none
}
}
else if(SelectValueOne > 40){
if(SelectValueTwo > 80){
BckRedSniper();
}
else if(SelectValueTwo > 50){
BckRedSnipePrk();
}
else if(SelectValueTwo > 30){
//none
}
else if(SelectValueTwo >= 0){
//none
}
}
else if(SelectValueOne > 20){
if(SelectValueTwo > 80){
BckBlueSniper();
}
else if(SelectValueTwo > 50){
BckBlueSnipePrk();
}
else if(SelectValueTwo > 30){
//none
}
else if(SelectValueTwo >= 0){
//none
}
}
else if(SelectValueOne >= 0){
if(SelectValueTwo > 80){
FrntBlueFlag();
}
else if(SelectValueTwo > 50){
FrntBluePrk();
}
else if(SelectValueTwo > 30){
//none
}
else if(SelectValueTwo >= 0){
//none
}
}
}
int selFun(){
static int SelectValueOne;
static int SelectValueTwo;
while(true){
static int SelectValueOneWas = SelectValueOne;
static int SelectValueTwoWas = SelectValueTwo;
SelectValueOne = AtonSelectOne.value(vex::percentUnits::pct);
SelectValueTwo = AtonSelectTwo.value(vex::percentUnits::pct);
if(SelectValueOne!=SelectValueOneWas || SelectValueTwo!=SelectValueTwoWas){
Brain.Screen.clearScreen();
if(SelectValueOne > 60){
if(SelectValueTwo > 80){
//FrntRedFlag();
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("Front Red Flag -- First Cap, First Row Flags, One Middle Row Flag, Second Cap");
}
else if(SelectValueTwo > 50){
//FrntRedPark();
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("Front Red Park -- First Cap, First Row Flags, Park");
}
else if(SelectValueTwo > 30){
//none
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
else if(SelectValueTwo >= 0){
//none
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
}
else if(SelectValueOne > 40){
if(SelectValueTwo > 80){
//BckRedSniper();
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("Back Red Sniper -- First Cap, Snipe High Flags");
}
else if(SelectValueTwo > 50){
//BckRedSniperPrk();
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("Back Red Parking Sniper -- First Cap, Snipe High Flags, Park");
}
else if(SelectValueTwo > 30){
//none
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
else if(SelectValueTwo >= 0){
//none
Brain.Screen.clearLine(1, vex::color::red);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
}
else if(SelectValueOne > 20){
if(SelectValueTwo > 80){
//BckBlueSniper
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("Back Blue Sniper -- First Cap, Snipe High Flags");
}
else if(SelectValueTwo > 50){
//BackBlueSnipePrk
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("Back Blue Parking Sniper -- First Cap, Snipe High Flags");
}
else if(SelectValueTwo > 30){
//none
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
else if(SelectValueTwo >= 0){
//none
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
}
else if(SelectValueOne >= 0){
if(SelectValueTwo > 80){
//FrntBlueFlag
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("Front Blue Flag -- First Cap, First Row Flags, One Middle Row Flag, Second Cap");
}
else if(SelectValueTwo > 50){
//FrntBluePrk
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("Front Blue Park -- First Cap, First Row Flags, Park");
}
else if(SelectValueTwo > 30){
//none
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
else if(SelectValueTwo >= 0){
//none
Brain.Screen.clearLine(1, vex::color::blue);
Brain.Screen.clearLine();
Brain.Screen.print("N/A");
}
}
}
vex::task::sleep(100);
}
}