Cortex VEXnet Manuel d'instructions télécharger pdf (Page 34)

ROBOTC

ROBOTC Programming - Competition Templates • 4

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

Pre-Autonomous Period

Placeyourinitializationcodeinsidethisfunction.Duringthepre-autonomousperiod,codecanbe

executedtocongureyourrobotbeforetheactualcompetitionbegins.Validcodeforthissection

includestaskssuchasclearingencoders,reectingmotors,andsettinginitialservopositions.



Note: Thiscodeexecutesonlyonceandrunsbeforethecompetitionbegins.

void pre_autonomous()

{

//Place pre-autonomous code here

}

ROBOTC Programming Competition Templates (cont.)

task autonomous()

{

//Place autonomous code here

AutonomousCodePlaceholderForTesting();

}

Autonomous Period

Placeyourautonomouscodeinsidethistask.Duringtheautonomousperiod,therobotperformsthe

pre-programmedactionsonce,oruntilitisdisabledbytheeldcontrolsystem(orforthelengthof

timespeciedintheautonomousDuration(time)pragmastatement,forVEXPICbasedrobots

usingthe75MHzCystals).TheAutonomousCodePlaceholderForTesting();functionisonlya

placeholderandshould be replacedwithyourowncode.

VEXPICbasedrobotsusingthe75MHzCrystalscannotacceptcommandsfromtheRadioControl

Transmitterduringtheautonomousperiod,buttheyrequirethatthesignalbepresentasasafety

precaution.Theautonomousperiodduringacompetitioncannotbeskippedbyshuttingthetransmitteroff;

doingsowitharobotusingthe75MHzcrystalswillpausetheVEX’sinternaltimers,potentiallycausingthe

robottoentertheUserControlperiodlaterthanitshould.

AlsonotethattheAutonomousCodePlaceholderForTesting();functioncontainsawhile(true)

loopthatcanpreventuser-writtenautonomouscodefromexecuting.Removethisfunctiontoavoidany

unexpectedbehaviorduringtheautonomousperiod.

Important Information - Transmitter Signal

VEX ROBOTICS COMPETITION

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Cortex VEXnet Manuel d'instructions Page 34