7842F Merged Competition Template

7842FMain.cpp

#include "main.h"

static bool isCompetition = false; //will be toggled when autonomous is run

/***
*     _____      _ _   _       _ _
*    |_   _|    (_) | (_)     | (_)
*      | | _ __  _| |_ _  __ _| |_ _______
*      | || '_ \| | __| |/ _` | | |_  / _ \
*     _| || | | | | |_| | (_| | | |/ /  __/
*     \___/_| |_|_|\__|_|\__,_|_|_/___\___|
* Runs initialization code. This occurs as soon as the program is started.
*
* All other competition modes are blocked by initialize; it is recommended
* to keep execution time for this mode under a few seconds.
*/
void initialize() {
  pros::delay(500); //Give the legacy ports time to start up

  initializeBase();
  initializeDevices();
}

/***
*     _____                           _____      _ _
*    /  __ \                         |_   _|    (_) |
*    | /  \/ ___  _ __ ___  _ __ ______| | _ __  _| |_
*    | |    / _ \| '_ ` _ \| '_ \______| || '_ \| | __|
*    | \__/\ (_) | | | | | | |_) |    _| || | | | | |_
*     \____/\___/|_| |_| |_| .__/     \___/_| |_|_|\__|
*                          |_|
* Runs after initialize(), and before autonomous when connected to the Field
* Management System or the VEX Competition Switch. This is intended for
* competition-specific initialization routines, such as an autonomous selector
* on the LCD.
*
* This task will exit when the robot is enabled and autonomous or opcontrol
* starts.
*/
void competition_initialize() {
  isCompetition = true;
}

/***
*    ______ _           _     _          _
*    |  _  (_)         | |   | |        | |
*    | | | |_ ___  __ _| |__ | | ___  __| |
*    | | | | / __|/ _` | '_ \| |/ _ \/ _` |
*    | |/ /| \__ \ (_| | |_) | |  __/ (_| |
*    |___/ |_|___/\__,_|_.__/|_|\___|\__,_|
* Runs while the robot is in the disabled state of Field Management System or
* the VEX Competition Switch, following either autonomous or opcontrol. When
* the robot is enabled, this task will exit.
*/
void disabled() {}

/***
*     _   _                              _             _
*    | | | |                            | |           | |
*    | | | |___  ___ _ __ ___ ___  _ __ | |_ _ __ ___ | |
*    | | | / __|/ _ \ '__/ __/ _ \| '_ \| __| '__/ _ \| |
*    | |_| \__ \  __/ | | (_| (_) | | | | |_| | | (_) | |
*     \___/|___/\___|_|  \___\___/|_| |_|\__|_|  \___/|_|
* Runs the operator control code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the operator
* control mode.
*
* If no competition control is connected, this function will run immediately
* following initialize().
*
* If the robot is disabled or communications is lost, the
* operator control task will be stopped. Re-enabling the robot will restart the
* task, not resume it from where it left off.
*/
void opcontrol() {
  while(true) {
    driverControl();
    pros::delay(10);
  }
}


/***
*      ___        _
*     / _ \      | |
*    / /_\ \_   _| |_ ___
*    |  _  | | | | __/ _ \
*    | | | | |_| | || (_) |
*    \_| |_/\__,_|\__\___/
* Runs the user autonomous code. This function will be started in its own task
* with the default priority and stack size whenever the robot is enabled via
* the Field Management System or the VEX Competition Switch in the autonomous
* mode. Alternatively, this function may be called in initialize or opcontrol
* for non-competition testing purposes.
*
* If the robot is disabled or communications is lost, the autonomous task
* will be stopped. Re-enabling the robot will restart the task, not re-start it
* from where it left off.
*/

void autonomous() {
  isCompetition = true;
}