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Version: 2.x

Adding Autonomous Routines

Learn to use Autonomous Functions​

Read through src/autons.cpp (or click here) and learn how to use the autonomous functions by reading through the example routines!

Make Your Own Autonomous Routine​

Make a new function in src/autons.cpp and name it something that says what the autonomous will do.

void SoloAWP() {
  // . . .
  // Autonomous code goes here
  // . . .
}

void ScoreRingsPlatDown() {
  // . . .
  // Autonomous code goes here
  // . . .
}

void NeutralStealPlatDown() {
  // . . .
  // Autonomous code goes here
  // . . .
}

void NeutralStealPlatUp() {
  // . . .
  // Autonomous code goes here
  // . . .
}

Add the Function to autons.hpp​

In include/autons.hpp add the name of your function.

void SoloAWP();
void ScoreRingsPlatDown();
void NeutralStealPlatDown();
void NeutralStealPlatUp();

Add the Function to the Autonomous Selector​

To add the autonomous mode to the on screen selector, in src/main.cpp go to void initialize() and either replace an existing autonomous mode or add new pages.

void initialize() {
  . . . 

  // Autonomous Selector using LLEMMU
  ez::as::auton_selector.add_autons({
    Auton("Solo AWP\n\nStarting Position: Plat Down", SoloAWP),
    Auton("Score Rings on Amogo\n\nStarting Position: Plat Down", ScoreRingsPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Down", NeutralStealPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Up", NeutralStealPlatUp),
  });

  . . .
}