Autonomous Selector

initialize()

Initializes the autonomous selector. If an SD card is plugged in, the current page will set to what's on the SD card.

Prototype

void initialize() {
  ez::as::initialize();
}

Example

void initialize();

limit_switch_lcd_initialize()

Sets external buttons to increase/decrease the current autonomous page.

right_limit a button to go forward a page left_limit a button to go backwards a page

Prototype

pros::adi::DigitalIn increase('A');
pros::adi::DigitalIn decrease('B');
void initialize() {
  ez::as::initialize();
  ez::as::limit_switch_lcd_initialize(&increase, &decrease);
  // . . .
}

Example

void limit_switch_lcd_initialize(pros::adi::DigitalIn* right_limit, pros::adi::DigitalIn* left_limit = nullptr);

shutdown()

Wrapper for pros::lcd::shutdown() found here.

Prototype

void initialize() {
  ez::as::initialize();

  // Do something

  ez::as::shutdown();
}

Example

void shutdown();

autons_add();

Adds autonomous routines to the autonomous selector. Uses ez::print_to_screen() to display to the brain.

autons accepts an object of a string and a function

Prototype

void auto1() {
  // Do something
}
void auto2() {
  // Do something
}
void auto3() {
  // Do something
}

void initialize() {
  ez::as::auton_selector.autons_add({
    Auton("Autonomous 1\nDoes Something", auto1),
    Auton("Autonomous 2\nDoes Something Else", auto2),
    Auton("Autonomous 3\nDoes Something More", auto3),
  });
}

Example

void autons_add(std::vector<Auton> autons);

selected_auton_print();

Prints the current autonomous mode to the screen.

Prototype

void initialize() {
  ez::as::auton_selector.selected_auton_print(); 
}

Example

void selected_auton_print();

page_down()

Decreases the page number. Best used with the lcd callback functions.

Prototype

void initialize() {
  pros::lcd::register_btn0_cb(ez::as::page_down);
  pros::lcd::register_btn2_cb(ez::as::page_up);
}

Example

void page_down();

page_up()

Increases the page number. Best used with the lcd callback functions

Prototype

Example

void initialize() {
  pros::lcd::register_btn2_cb(ez::as::page_up);
}

Example

void page_down();
void page_up();

selected_auton_call()

Runs the current autonomous that's selected.

Prototype

void autonomous() {
  chassis.drive_imu_reset(); 
  chassis.drive_sensor_reset(); 
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD); 

  ez::as::auton_selector.selected_auton_call(); 
}

Example

void selected_auton_call();

enabled()

Returns true if the auton selector is enabled and false if it isn't.

Prototype

void initialize() {
  printf("Enabled? %i\n", ez::as::enabled()); // Returns false
  ez::as::initialize();
  printf("Enabled? %i\n", ez::as::enabled()); // Returns true
}

Example

bool ez::as::enabled();