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AscendRobotics
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AscendData

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int32_t
priority
)
Sets the priority of the current thread.
Parameters
priority
The priority of the thread to be set to.
◆ priority()
int32_t vex::this_thread::priority
(
)
Gets the priority of the current thread.
Returns
Returns the priority of the current thread as an integer.
________________
Full Spin Up Code
/*----------------------------------------------------------------------------*/
/* */
/* Module: main.cpp */
/* Author: VEX */
/* Created: Thu Sep 26 2019 */
/* Description: Competition Template */
/* */
/*----------------------------------------------------------------------------*/
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// Controller1 controller
// Flywheel motor_group 1, 2
// LeftMotors motor_group 3, 4
// RightMotors motor_group 5, 6
// RightEncoder encoder A, B
// LeftEncoder encoder C, D
// BackEncoder encoder E, F
// Intake motor 7
// Indexer motor 8
// Wings digital_out G
// Optical optical 9
// VisionSensor vision 10
// Inertial1 inertial 19
// Inertial2 inertial 20
// LineTracker line H
// Motor motor 11
// ---- END VEXCODE CONFIGURED DEVICES ----
//neccessary stuff
#include "vex.h"
#include <iostream>
#include <cmath>
#include <vector>
#include <cstdlib>
using namespace vex;
competition Competition;
//global variables
int flywheelLastPos = 0; //the last position of the flywheel in degrees, based on the internal motor encoders
int flywheelTargetRPM = 1800; //the target RPM of the flywheel
bool flywheelOn = false; //true or false, whether or not the flywheel is on right now
bool auton = false; //whether or not the robot is being controlled autonomously
float driveSpeed = 1.0f; //driving (forward and backward) speed of the robot
float turnSpeed = .7f; //turning speed of the robot
int drawMode = 0; //what to draw on the brain screen? 0: flywheel 1: PID 2: vision sensor 3: status update 4: odom
int tempDrawMode = 0; //store the previous draw mode temporarily
bool useTBH = true;//controls how the flywheel speed is updated
int overHeatingTimer = 0; //keeps track of how often to display an overheating warning
bool firstCross = false; //whether or not the first cross of the target RPM line has occured yet
int autonType = 1; //the type of autonomous to use
float driveDistance = 0; //drive distnace for drive PID
bool opticalMode = false;//whether or not the optical sensor dictates when discs are shot.
double gain = 0.000143; //was 0.00013 before, the gain variable for TBH velocity control
double defaultGain = 0.000143; //the default gain, was .000143
bool visionAlign = false; //whether or not to align to the goal using the vision sensor
bool visionTrackRed = true; //whether or not to track red objects as the goal
bool visionTrackBlue = true; //whether or not to track blue objects as the goal
float speedPID = 1; // the speed to run the motors at in PID loops, range is0-1
bool tripleShooting = false; //whether or not a triple shot is active
float motorPowerApprox = 0.61; //default guess for the motor power, for 1800 rpm, for the flywheel
//odometry constants
float pos[2] = {0, 0}; //x and y global position of the robot
float angle = 0; //the angle of the robot relative to the starting angle, in radians
float sideWheelRadius = 4.8258328 * 3633.0 / 3600; //in inches, the distance between each side wheel and the tracking center, 4.8125
//above, it was 4.8623 for the first half of the second week of summer camp
float backWheelRadius = 1; //in inches, the distance between the back wheel and the tracking center
int prevLeftEncoder = 0;//the previous reading of the left encoder, in degrees
int prevRightEncoder = 0;//the previous reading of the right encoder, in degrees
int prevBackEncoder = 0; //the previous reading of the back encoder, in degrees
//helper functions
void printController(float i) {
//prints a number to the controller console (very handy for debugging)
Controller1.Screen.clearLine(3);