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ROBOTC

ROBOTC Programming - Competition Templates • 6

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

#pragma config(Sensor, in1, bumper, sensorTouch)

//*!!Code automatically generated

#pragma platform(VEX)

#pragma competitionControl(Competition)

#pragma autonomousDuration(20)

#pragma userControlDuration(120)

#include “Vex_Competition_Includes.c”

void forwardUntilTouch()

{

while(SensorValue[bumper] == 0)

{

motor[port2] = 63;

motor[port3] = 63;

}

motor[port2] = 0;

motor[port3] = 0;

}

void pre_autonomous()

{

bMotorReflected[port2] = true;

}

task autonomous()

{

forwardUntilTouch();

motor[port6] = 31;

wait1Msec(250);

motor[port6] = 0;

}

task usercontrol()

{

while(true)

{

motor[port2] = vexRT[Ch2];

motor[port3] = vexRT[Ch3];

motor[port6] = vexRT[Ch6]/4;

}

Sample Competition Template with User Code

MotorsandSensorsconguredusing

theROBOTCMotors and Sensors

setupwindowwillautomaticallybe

addedaspragmastatementsatthe

topoftheprogram.

Whileit’snottechnicallyrequired,

it’sgoodprogrammingpracticeto

placeuser-denedfunctionsand/or

globalvariablesbelowthepragma

andincludestatements,andabovethe

template-includedfunctionsandtasks.

ThissetsthemotorconnectedtoVEX

Port2tospininreverse.

Commandsintheautonomousperiod

areexecutedonce(assumingthereareno

loopsinthecode).Also,noticethatthe

AutonomousCodePlaceholder-

ForTestingfunctionhasbeenremoved.

Commandsinthewhile(true)

loopoftheusercontrolperiod

areexecuteduntiltheendof

thematch.Also,noticethatthe

UserControlCodePlaceholder-

ForTestingfunctionhasbeen

removedfromtheloop.

ROBOTC Programming Competition Templates (cont.)

VEX ROBOTICS COMPETITION

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Cortex VEXnet Manuel d'instructions Page 36

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