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 the Autonomous Routines

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 it to autons.hpp

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

#pragma once

#include "EZ-Template/drive/drive.hpp"

extern Drive chassis;

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

Add it 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.  Click here to learn how to use the autonomous selector.    

void initialize() {
 . . . 

  // Autonomous Selector using LLEMMU
  ez::as::auton_selector.autons_add({
    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),
 });

 . . .
}