Code: #pragma config(UART_Usage, UART2, uartVEXLCD, baudRate19200, IOPins, None, None)
#pragma config(Motor, port2, rightMotor, tmotorNormal, openLoop, reversed)
#pragma config(Motor, port3, leftMotor, tmotorNormal, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
/*
Code Chooser
ROBOTC on VEX 2.0 Cortex
This program uses the Display functions of ROBOTC on the VEX 2.0 Cortex platform.
It allows the user to choose from 4 different pieces of code using the left and right buttons
on the VEX LCD. Once the center button is pressed, the code corresponding with the choice is run.
This code can be adapted for competition based settings - just place the code for the first
switch case in the pre_auton function, and the code for the second switch in the autonomous task.
Replace the basic movement behaviors in the second switch with your own autonomous routines.
ROBOT CONFIGURATION
MOTORS & SENSORS:
[I/O Port] [Name] [Type] [Description]
UART Port 2 none VEX LCD VEX LCD Screen
Motor Port 2 rightMotor VEX 3-wire module Right side motor
Motor Port 3 leftMotor VEX 3-wire module Left side motor
*/
const short leftButton = 1;
const short centerButton = 2;
const short rightButton = 4;
//Wait for Press--------------------------------------------------
void waitForPress()
{
while(nLCDButtons == 0){}
wait1Msec(5);
}
//----------------------------------------------------------------
//Wait for Release------------------------------------------------
void waitForRelease()
{
while(nLCDButtons != 0){}
wait1Msec(5);
}
//----------------------------------------------------------------
task main()
{
//Declare count variable to keep track of our choice
int count = 0;
//------------- Beginning of User Interface Code ---------------
//Clear LCD
clearLCDLine(0);
clearLCDLine(1);
//Loop while center button is not pressed
while(nLCDButtons != centerButton)
{
//Switch case that allows the user to choose from 4 different options
switch(count){
case 0:
//Display first choice
displayLCDCenteredString(0, "Autonomous 1");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count = 3;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count++;
}
break;
case 1:
//Display second choice
displayLCDCenteredString(0, "Autonomous 2");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count++;
}
break;
case 2:
//Display third choice
displayLCDCenteredString(0, "Autonomous 3");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count++;
}
break;
case 3:
//Display fourth choice
displayLCDCenteredString(0, "Autonomous 4");
displayLCDCenteredString(1, "< Enter >");
waitForPress();
//Increment or decrement "count" based on button press
if(nLCDButtons == leftButton)
{
waitForRelease();
count--;
}
else if(nLCDButtons == rightButton)
{
waitForRelease();
count = 0;
}
break;
default:
count = 0;
break;
}
}
//------------- End of User Interface Code ---------------------
//------------- Beginning of Robot Movement Code ---------------
//Clear LCD
clearLCDLine(0);
clearLCDLine(1);
//Switch Case that actually runs the user choice
switch(count){
case 0:
//If count = 0, run the code correspoinding with choice 1
displayLCDCenteredString(0, "Autonomous 1");
displayLCDCenteredString(1, "is running!");
wait1Msec(2000); // Robot waits for 2000 milliseconds
// Move forward at full power for 3 seconds
motor[rightMotor] = 127; // Motor on port2 is run at full (127) power forward
motor[leftMotor] = 127; // Motor on port3 is run at full (127) power forward
wait1Msec(3000); // Robot runs previous code for 3000 milliseconds before moving on
break;
case 1:
//If count = 1, run the code correspoinding with choice 2
displayLCDCenteredString(0, "Autonomous 2");
displayLCDCenteredString(1, "is running!");
wait1Msec(2000); // Robot waits for 2000 milliseconds
// Move reverse at full power for 3 seconds
motor[rightMotor] = -127; // Motor on port2 is run at full (-127) power reverse
motor[leftMotor] = -127; // Motor on port3 is run at full (-127) power reverse
wait1Msec(3000); // Robot runs previous code for 3000 milliseconds before moving on
break;
case 2:
//If count = 2, run the code correspoinding with choice 3
displayLCDCenteredString(0, "Autonomous 3");
displayLCDCenteredString(1, "is running!");
wait1Msec(2000); // Robot waits for 2000 milliseconds
//Turn right for 3seconds
motor[rightMotor] = -63; // Motor on port2 is run at half power reverse
motor[leftMotor] = 63; // Motor on port3 is run at half power forward
wait1Msec(3000); // Robot runs previous code for 3000 milliseconds before moving on
break;
case 3:
//If count = 3, run the code correspoinding with choice 4
displayLCDCenteredString(0, "Autonomous 4");
displayLCDCenteredString(1, "is running!");
wait1Msec(2000); // Robot waits for 2000 milliseconds
//Turn left for 3 seconds
motor[rightMotor] = 63; // Motor on port2 is run at half power forward
motor[leftMotor] = -63; // Motor on port3 is run at half power reverse
wait1Msec(3000); // Robot runs previous code for 3000 milliseconds before moving on
break;
default:
displayLCDCenteredString(0, "No valid choice");
displayLCDCenteredString(1, "was made!");
break;
}
//------------- End of Robot Movement Code -----------------------
} | 
VEX operation vs NXT operation
