Cortex VEXnet Manual de instrucciones descargar pdf (Pagina 38)

ROBOTC

ROBOTC Programming - Competition Templates • 8

2011 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems

ShownbelowarethecontentsoftheDriverSkills.clewithbriefdescriptions,butwiththecomments

removedandadditionalspacingadded.AdditionaldetailscanbefoundinPart Iofthisdocument.

#pragma platform(VEX)

#pragma competitionControl(Competition)

#pragma autonomousDuration(0)

#pragma userControlDuration(60)

#include “Vex_Competition_Includes.c”

void pre_autonomous()

{

//Place pre-autonomous code here

}

task autonomous()

{

//Leave this section alone

AutonomousCodePlaceholderForTesting();

}

task usercontrol()

{

while(true)

{

//Place user control code here

UserControlCodePlaceholderForTesting();

motor[port2] = vexRT[Ch1];

motor[port3] = vexRT[Ch4];

}

Thesepragmastatementsspecifythe

durationoftheautonomousandusercontrol

portionsofthecompetition(0and60second

defaults)forVEXPICbasedrobotsusingthe

75MHzCrystals.

Ifyourrobotisusingthe75MHzcrystals,

doNOTremovetheselinesofcode.Ifyou

areusingaVEXCortexorVEX1.5(VEXnet

UpgradedPIC)basedrobot,youcan

commenttheselinesoutordeletethem.

Anyinitializationcode,suchassetting

servopositionsorclearingencoder

valuescanbeplacedwithinthe

pre_autonomous()function.

Theautonomous taskcanbeignoredwhen

programmingforaDriverSkillscompetition,

butdoNOTdeleteit.

Allcodefortheusercontrolportionofthe

competitionshouldbeplacedwithinthewhile()

loopoftheusercontrol task.Thewhile()loop

repeatsallcommandswithinitscurlybrackets

forthedurationoftheusercontrolportionofthe

competition,ensuringthattheremotecontrol

valuessenttotherobotarecontinuallyupdated.

Thepre-existingcodewithintheloopcan

bereplacedwithyourowncode.The

UserControlCodePlaceholderForTesting

functionshouldalsoberemoved.

ROBOTC Programming Competition Templates (cont.)

VEX ROBOTICS COMPETITION

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Cortex VEXnet Manual de instrucciones Pagina 38

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