自学教程：C++ startTask函数代码示例

task main(){	bFloatConversionErrors=true;	displayTextLine(0, "HT Gyro");	displayTextLine(1, "Test task");	displayTextLine(5, "Press enter");	displayTextLine(6, "to set relative");	displayTextLine(7, "heading");	sleep(2000);	eraseDisplay();	startTask(gyro_loop);	while(true)	{		if(getXbuttonValue(xButtonEnter))		{			gyro_loop_state = CALIBRATION;			sleep(2000);		}else if(getXbuttonValue(xButtonLeft))		{			gyro_loop_state = STOPPED;			while(gyro_loop_state!=STOPPED)				sleep(2000);			stopTask(gyro_loop);		}else if(getXbuttonValue(xButtonRight))		{			startTask(gyro_loop);		}else		{			sleep(1000);		}	}}

void autonomous3Left() {	motor[intake] = 127;	motor[indexer] = 127;	startAutoFlywheel(300, HIGH_SPEED_HOLD, LOW_SPEED_HOLD, WAIT_HOLD);	setWheelSpeed(45);	wait1Msec(1300);	setWheelSpeed(0);	wait1Msec(2000);	autonIndex = true;	autonShoot = false;	autonIntake = true;	startTask(stopFlywheel);	startTask(intakeControl);	turnPID(350);	drivePID(1000);	stopTask(intakeControl);	motor[intake] = 0;	motor[indexer] = 0;	turnPID(230);	motor[intake] = -127;	motor[indexer] = -127;	wait1Msec(1000);	turnPID(400);	wait1Msec(200);	setWheelSpeed(80,100);	wait1Msec(1000);	setWheelSpeed(0)}

task autonomous(){	//8.3 battery working	setUp();	startTask(FlywheelController);	startTask(recoverFromShots);	startTask(rpmIndicator);	SetTarget(2610,85);	wait1Msec(5000);	Conveyor(127);	wait1Msec(500);	Conveyor(0);	wait1Msec(2000);	Conveyor(127);	wait1Msec(500);	Conveyor(0);	wait1Msec(2000);	Conveyor(127);	wait1Msec(500);	Conveyor(0);	wait1Msec(2000);	Conveyor(127);	while(true)	{}}

task usercontrol(){//	startTask(shooter);	startTask(drive);	startTask(intake);	speedUpFlywheel();	while(true){		if(vexRT(Btn8U)){			motor[LUflywheel] = 127;			motor[LDflywheel] = 127;			motor[RUflywheel] = 127;			motor[RDflywheel] = 127;		}		else if(vexRT(Btn8D)){			motor[LDflywheel] = 100;			motor[RUflywheel] = 100;			motor[RDflywheel] = 100;		}		else if(vexRT(Btn8L))			slowDownFlywheel();		wait1Msec(25);	}}

task autonomous() {	initializeTasks();	stopTask(seymoreControl);	//startTask(skillPointAuto);	//startTask(stationaryAuto);	//startTask(hoardingAuto);	//startTask(classicAuto);	//startTask(skillz);	if (SensorValue[ternaryPot] < 1187) {		if (SensorValue[binaryPot] < 1217) {			startTask(stationaryAuto);		}		else {			startTask(skillPointAuto);		}	}	else if (SensorValue[ternaryPot] < 2577) {		if (SensorValue[binaryPot] < 1217) {			startTask(classicAuto);		}		else {			startTask(hoardingAuto);		}	}	else {		startTask(skillz);	}	while(true) { EndTimeSlice(); }}

void init() {	playTone(700,10);	startTask(LCD);	startTask(flywheelVelocity);	setBaudRate(UART1, baudRate57600);	//Slave Motors	slaveMotor(flywheel2,flywheel4);	slaveMotor(flywheel3,flywheel4);	slaveMotor(flywheel1,flywheel4);	//Startup modes	if(!debugMode)		debugMode = (bool) SensorValue[debug];	if(!tuneMode)		tuneMode = (bool) SensorValue[tune];	if(!encoderTestMode)		encoderTestMode = (bool) SensorValue[encoderTest];	//Boot into test encoder mode	if(encoderTestMode)		testEncoder();	bool autonIntake = false;	bool autonIndex = false;	bool autonShoot = false;}

task usercontrol() {	startTask(drive);	while(true) {		if(vexRT(Btn8U)) {			shooterPowerDown();			autoFeeder = false;		}		if(vexRT(Btn8D) || autoStartShooter) {			autoFeeder = true;			if(fastMode) {				speed = 103;				feederWaitTime = 1000;				} else {				speed = 98;				feederWaitTime = 1500;			}			startTask(shooterDJ);		}		if(vexRT(Btn5D))			motor[feeder] = 127;		else if(!autoFeeder)			motor[feeder] = 0;		if(vexRT(Btn5U))			motor[intake1] = 127;		else			motor[intake1] = 0;		if(vexRT(Btn6D)) {			speed = 55;			startTask(shooter);		}		wait1Msec(25);	}}

//for flywheel acceleration; the separate task lets the acceleration code run concurently with other robot functionstask flywheelController() { //manages flywheel starts and stops	while(1)	{		//activate/deactivate flywheel on joystick button press		if(vexRT[Btn5D] == 1 && !flywheelRunning){			leftFwMotorSet(40);			rightFwMotorSet(40);			wait1Msec(750);			leftFwMotorSet(70);			rightFwMotorSet(70);			wait1Msec(750);			leftFwMotorSet(75);			rightFwMotorSet(75);			wait1Msec(500);			startTask(leftFwControlTask); //this is ok to run every time because stopping the flywheel also stops the flywheel control tasks			startTask(rightFwControlTask);			leftFwVelocitySet(74,0.59);//was 100			rightFwVelocitySet(74,0.59);//was 100			startTask(flashYellowLED);		}		else if (vexRT[Btn7D] == 1 && vexRT[Btn8D] == 1) {			stopTask(leftFwControlTask);			stopTask(rightFwControlTask);			leftFwMotorSet(0);			rightFwMotorSet(0);			stopTask(flashYellowLED);			SensorValue[yellowLED] = 0; //make sure LEDs are off			SensorValue[redLED] = 1;			wait1Msec(3000);			SensorValue[redLED] = 0;		}	}}

task usercontrol(){	bool clicked;	setUp();	startTask(driverControl);	startTask(conveyorControl);	startTask(targetAdjustment);	driverTarget = 2610;	SetTarget(driverTarget, 85);	while(true)	{		while(vexRT[Btn8D] == 0)		{			if(vexRT[Btn8L] == 1)			{				while(vexRT[Btn8L] == 1)				{					wait1Msec(10);				}				driverTarget = 2610;				SetTarget(driverTarget, 85);			}			if(vexRT[Btn8U] == 1)			{				while(vexRT[Btn8U] == 1)				{					wait1Msec(10);				}				driverTarget = 1800;				SetTarget(driverTarget, 50);			}			if(vexRT[Btn8R] == 1)			{				while(vexRT[Btn8R] == 1)				{					wait1Msec(10);				}				driverTarget = 1000;				SetTarget(driverTarget, 30);			}			wait1Msec(10);		}		while(vexRT[Btn8D] == 1)		{			wait1Msec(10);		}		clicked = !clicked;		if(clicked)		{			startTask(FlywheelController);			startTask(recoverFromShots);			SetTarget(driverTarget, 85);		}		else		{			SetTarget(0, 0);		}	}}

task autonomous(){	wait1Msec(5000);	startTask(FlywheelController);	SetTarget(1600,80);	startTask(recoverFromShots);	wait1Msec(4500);	SensorValue[ANGLE] = 0;	clearTimer(T3);	while(time1[T3] <2550)	{		motor[rdy] = motor[rd] = -127 - (SensorValue[ANGLE]);  // was 8		motor[ld] = motor[ldy] = -127 + (SensorValue[ANGLE]);		wait1Msec(10);	}	motor[rd] = motor[rdy] = 0;	motor[ld] = motor[ldy] = 0;	startTask(autoConveyor);	while(true)	{}//	AutonomousCodePlaceholderForTesting();  // Remove this function call once you have "real" code.}

	task usercontrol()	{		startTask(shooter);		startTask(drive);		startTask(intake);		startTask(flywheelVelocity);		//speedUpFlywheel();		while(true){			if(vexRT(Btn8U)){				motor[LUflywheel] = 127;				motor[LDflywheel] = 127;				motor[RUflywheel] = 127;				motor[RDflywheel] = 127;			}			else if(vexRT(Btn8D)){				motor[LDflywheel] = 90;				motor[RUflywheel] = 90;				motor[RDflywheel] = 90;			}			if(vexRT(Btn8L)){				stopTask(flywheelP);				slowDownFlywheel();			}			wait1Msec(25);		}	}

task main() {	while(true) {		startTask(initialize);		startTask(gyroTest);	}}

task rij_auto(){	startTask(ramp_up_auto);	startTask(sound);	startTask(scancode);	wait10Msec(10);	float speedL = 0, speedR = 0, Grayscale = 0;	while(true)	{		Grayscale = SensorValue[LichtR];		if (error == 0 || (perverror < 0 && error > 0) || (perverror > 0 && error < 0))		{			integral = 0;		}		error = Grayscale - offset; // berekent de error value (hoever de sensor van de lijn zit.)		integral = (2/3)*integral + error; //opsomming van de integrals		derivative = error - perverror;		//datalogAddValue(derivative, derivative);		turn = (Kp * error) + (Ki * integral) + (Kd * derivative); // berekening waarbij bepaald word hoeveel er bijgestuurd moet worden om op de lijn te blijven.		speedL = (Tp - turn);		speedR = (Tp + turn);		//displayString(6, "R= %d, L= %d", speedR, speedL);		motor[MotorLinks] = speedL;		motor[MotorRechts] = speedR;		perverror = error;		//lightrr = SensorValue[LichtR]; //debug		//lightll = SensorValue[LichtL]; //debug	}}

task autonomous() {	//start flywheel	initializeTasks();	setFlywheelRange(2);	wait1Msec(1000);	startTask(fire);	//wait until first set of preloads are fired	waitUntilNotFiring(15000);	while (firing) { EndTimeSlice(); }	stopTask(fire);	turn(120); //turn toward stack	motor[feedMe] = 127;	driveStraight(150, 1, 1, 60); //move to second stack	turn(-30);	driveStraight(3200, 1, 1, 60); //drive across field	autonProgress = 1;	turn(-83); // turn toward net	autonProgress = 2;	//fire remaining balls	startTask(fire);	while (true) { EndTimeSlice(); }}

//prepare to use TBH for flywheel velocity controlvoid initializeTBH() {	tbhInit(lFly, 392, 0.0004);//.0002 //initialize TBH for left side of the flywheel	tbhInit(rFly, 392, 0.0004); //.000275 //initialize TBH for right side of the flywheel	//motor[intake] = 127;	//start the flywheel control tasks	startTask(leftFwControlTask);	startTask(rightFwControlTask);}

//purple shooting (for skills)void initializePIDPurple() {	//note the order of the parameters:	//(controller, motor ticks per rev, KpNorm, KpBallLaunch, Ki, Kd, constant, RPM drop on ball launch)	tbhInit(lFly, 392, 0.4281, 3.03, 0.005481, 0, 55, 20); //initialize PID for left side of the flywheel //left side might be able to have a higher P	tbhInit(rFly, 392, 0.4281, 3.03, 0.005481, 0, 55, 20); //initialize PID for right side of the flywheel //x.x481	startTask(leftFwControlTask);	startTask(rightFwControlTask);}

//short shootingvoid initializePIDShort() {	//note the order of the parameters:	//(controller, motor ticks per rev, KpNorm, KpBallLaunch, Ki, Kd, constant, RPM drop on ball launch)	tbhInit(lFly, 392, .14491/* .12891.2958 0.3652*/, 1.7 /*2.77 3.037 1.0981 9.5*/, .005252, 0, 31.501, 15); //initialize PID for left side of the flywheel //left side might be able to have a higher P	tbhInit(rFly, 392, .14491/*.1291 0.3652*/, 1.7 /*3.037 1.943 9.5*/, .005252, 0, 31.501, 15); //initialize PID for right side of the flywheel //x.x481	startTask(leftFwControlTask);	startTask(rightFwControlTask);}

//purple shooting (for skills)void initializePIDMid() {	//note the order of the parameters:	//(controller, motor ticks per rev, KpNorm, KpBallLaunch, Ki, Kd, constant, RPM drop on ball launch)	tbhInit(lFly, 392, .1451, 1.70 /*3.24*/, 0.005052, 0, 39, 20); //initialize PID for left side of the flywheel //left side might be able to have a higher P	tbhInit(rFly, 392, .1451/*0.3791*/, 1.70, 0.005052, 0, 39, 20); //initialize PID for right side of the flywheel //x.x481	startTask(leftFwControlTask);	startTask(rightFwControlTask);}

void progSkills(){	FlywheelPower(60);	wait1Msec(500);	startTask(FlywheelController);	startTask(recoverFromShots);	SensorValue[ANGLE] = 0;	SetTarget(2260,44);  // used to be 2050		driveAcross(300);		wait1Msec(150);	turnOther(100); // added by shlaok	//wait1Msec(500);	//turn(0);	while(first_cross)	{		wait1Msec(10);	}	startTask(AutonConveyor);/*	Conveyor(127);	//*/	//SensorValue[ANGLE] = 0;	//turnOther(120); // added by shlaok	while(shotCount<32)	{		wait1Msec(10);	}	turn(0);	driveStraight(-127);	wait1Msec(800);	motor[LeftDrive] = motor[RightDrive] = 0;	SensorValue[ANGLE] = 0;	/*stopTask(FlywheelController);	stopTask(recoverFromShots);	SetTarget(0,0);	FlywheelPower(0);*/	driveAcross(4350); // was 4600	//driveStraight(127);	//wait1Msec(300);	motor[LeftDrive] = motor[RightDrive] = 0;	turn(-120);  // used to be positive	/*startTask(FlywheelController);	startTask(recoverFromShots);	FlywheelPower(60);	wait1Msec(300);	SetTarget(2000,34);	while(first_cross)	{		wait1Msec(10);	}*/	while(true)	{}}

int bleutooth_control(string *s){	/*		This code is for taking over the robot completely using bleutooth to make sure you can stop de robot in case its needed.		pressing the middle button ("FIRE") on the phone stops the robot due to it not being included in the code here.		To get in to this function you have to press "B"	*/	TFileIOResult nBTCmdRdErrorStatus; 	int nSizeOfMessage; 	ubyte nRcvBuffer[kMaxSizeOfMessage]; 	int stopcode = 0;	while (*s != "A"){//if A is pressed the robot will resume its duty the normal way		nSizeOfMessage = cCmdMessageGetSize(INBOX);    if (nSizeOfMessage > kMaxSizeOfMessage){    	nSizeOfMessage = kMaxSizeOfMessage; 		} 		if (nSizeOfMessage > 0){			nBTCmdRdErrorStatus = cCmdMessageRead(nRcvBuffer, nSizeOfMessage, INBOX);		  nRcvBuffer[nSizeOfMessage] = '/0';		 	*s = "";		  stringFromChars(*s, (char *) nRcvBuffer);//put bluetooth input in string s		  displayCenteredBigTextLine(4, *s);		}		//The next 4 if statements are for controlling the robot manually		if(*s == "LEFT"){//if bleutooth input is left turn left		  motor(motorA) = 0;		  motor(motorB) = 30;		  startTask(music);//make sure the music is running		}    else if(*s == "RIGHT"){//if bleutooth input is right turn right    	motor(motorA) = 30;    	motor(motorB) = 0;      startTask(music);    }    else if (*s == "UP"){//if bleutooth input is up drive forward    	setMultipleMotors(50, motorB, motorA);    	startTask(music);    }    else if (*s == "DOWN"){//if bleutooth input is down drive backwards    	setMultipleMotors(-50, motorB, motorA);    	startTask(music);    }    else {//if there is no correct input turn off the motors    	setMultipleMotors(0, motorA, motorB);    	stopTask(music);//make sure the music is stopped    	clearSounds();//empty the buffer    }    if (*s == "C"){//if the C button is pressed the loop stops and the stopcode == 1 to stop de code from running    	stopcode = 1;    	stopTask(music);    	clearSounds();    	break;    }  }  *s = "";//make sure s is empty  return stopcode;//output of the function used to stop the code if chosen}

task main(){startTask(initialize);startTask(displaySensorValues);while(true){	wait1Msec(2);}}

void initializeTBHSkills() {	tbhInit(lFly, 627.2, 0.00825);//1025); //initialize TBH for left side of the flywheel	tbhInit(rFly, 627.2, 0.00825);//1000); //initialize TBH for the right side of the flywheel	//motor[intake] = 127;	//start the flywheel control tasks	startTask(leftFwControlTask);	startTask(rightFwControlTask);	startTask(flashLED);}

//long shootingvoid initializePIDLong() {	//note the order of the parameters:	//(controller, motor ticks per rev, KpNorm, KpBallLaunch, Ki, Kd, constant, RPM drop on ball launch)	tbhInit(lFly, 390.4, .1821/*0.4074*/, 3.64113/*2.69881 2.8*/, 0.005381, 0, 50, 20); //initialize PID for left side of the flywheel //left side might be able to have a higher P	tbhInit(rFly, 392, .1821/*0.4074*/, 3.64113, 0.005381, 0, 50, 20); //initialize PID for right side of the flywheel //x.x481	//tbhInit(lFly, 392, 0.3881, .6000, 0.006481, 0, 75, 20); //initialize PID for left side of the flywheel //left side might be able to have a higher P	//tbhInit(rFly, 392, 0.3881, .6000, 0.006481, 0, 75, 20); //initialize PID for right side of the flywheel //x.x481	startTask(leftFwControlTask);	startTask(rightFwControlTask);}

task main(){	startTask(gyro_loop);	startTask(sonar_loop);	while(gyro_loop_state!=READING) sleep(5);	faceObject();	sleep(1000);	turn();}

task main(){	startTask(geluid);	while(1)	{		startTask(accelerate);		while (SensorValue(sonarsensor) > 5)		{			startTask(geluid);			while (SensorValue(sonarsensor) > 30)			{				if ((SensorValue(EyeLeft) == BLACKCOLOR) && (SensorValue(EyeRight) <= rightThreshold))    		{      	  	//      	  	// Beide sensoren zien lijn, oftewel kruispunt.      	  	//    				clearSounds();    				motor[left] = 0;    				motor[right] = 0;   	 		}    		if ((SensorValue(EyeLeft) == BLACKCOLOR)&&(SensorValue(EyeRight)> rightThreshold))    		{        		//        		// Only left sensor sees the line, we must turn left.        		//        		motor[left] = i;        		motor[right] = i/(0.1 * speedlimit);    		}    		if ((SensorValue(EyeLeft) == WHITECOLOR) &&(SensorValue(EyeRight)< rightThreshold))    		{       	 		//       	 		// Only right sensor sees the line, turn right.        		//        		motor[left] = i/(0.1 * speedlimit);        		motor[right] = i;    		}				if ((SensorValue(EyeLeft) == WHITECOLOR)&&(SensorValue(EyeRight) > rightThreshold))				{					motor[left] = i/2;      		motor[right] = i/2;    		}    		wait1Msec(5);   		}   		clearSounds();   		startTask(deaccelerate);		}		clearSounds();		i = 0;	}}

task main(){	clearDebugStream();	printnVexRCRecieveState();	startTask(MotorSlewRateTask);	startTask(DrivetrainControlTask);	startTask(LiftControlTask);	while (true) { EndTimeSlice(); }}

task usercontrol(){	startTask(Menu);	while (true)	{		startTask(driveComp);		startTask(armComp);		startTask(intakeComp);	}}

task main(){	waitForStart();	startTask(conveyerArm);	startTask(goalGrabber);	while(true)	{		joyDrive();		moveConveyer();	}}

task main() {	const int autonomousDuration = 15 * 1000;	const int manualDuration = (60 + 45) * 1000;	startTask(hippo);	pause(autonomousDuration);	stopTask(hippo);	startTask(manual);	pause(manualDuration);	stopTask(manual);}