自学教程：C++ vexRT函数代码示例

task reverseFlywheel () {	while(true) {		if(vexRT(Btn7L) && flywheelVelocity > flywheelReverseStartThreshold) {			stopFlywheel();			clearLCDLine(1);			while(flywheelVelocity>0) {				setFlywheel(flywheelVelocity>flywheelSlowDownVelocity?0:-pow(abs((flywheelVelocity/1000)-flywheelSlowDownVelocity/1000),1.3));				clearLCDLine(0);				displayLCDNumber(0,0,flywheelVelocity);				displayLCDNumber(0,10,motor[flywheel1]);				delay(25);			}		}		else {			while(vexRT(Btn7L)) {				stopFlywheel();				setFlywheel(-127);				delay(25);			}			if(flywheelVelocity < 0 && !debugFlywheelActive) {				setFlywheel(0);			}		}		delay(25);	}}

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 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 usercontrol() {	while (true) {		if(vexRT(Btn7U)){			motor(flywheel1) = -127;			motor(flywheel2) = -127;			motor(flywheel3) = -127;			motor(flywheel4) = -127;		}		else if(vexRT(Btn7D)){			motor(flywheel1) = 100;			motor(flywheel2) = 100;			motor(flywheel3) = 100;			motor(flywheel4) = 100;		}		else{			motor(flywheel1) = 0;			motor(flywheel2) = 0;			motor(flywheel3) = 0;			motor(flywheel4) = 0;		}	}}

void chaDrive(){	int LY = vexRT(Ch3);	int LX = vexRT(Ch4);	int RX = vexRT(Ch1);	if(abs(LY+LX) <=deadZone){		LY = 0;		LX = 0;	}	if(abs(RX) <=17){		RX = 0;	}	if(abs(RX) >17){	LX = 0;	LY = 0;}	mTR(LX - LY + RX);	mBR(-LY - LX + RX);  mBL(LY - LX + RX);	mTL(LX + LY + RX);}

void armMotor(){	if(vexRT[Btn6U] == 1){		// If 6U is pressed, arm goes up		motor[topRightLift] = 127;		motor[topLeftLift] = 127;		motor[bottomLeftLift] = 127;		motor[bottomRightLift] = 127;	}	else if(vexRT[Btn6D] == 1){		// If 6D is pressed, arm goes down		motor[topRightLift] = -127;		motor[topLeftLift] = -127;		motor[bottomLeftLift] = -127;		motor[bottomRightLift] = -127;	}	else{		// otherwise, do nothing		motor[topRightLift] = 0;		motor[topLeftLift] = 0;		motor[bottomLeftLift] = 0;		motor[bottomRightLift] = 0;	}	if(vexRT(Btn8U) == 1){		//If 8U is pressed, bring arm to maximum height		userArm(rightMaxPot,leftMaxPot,RAISE ,127);	}	else if(vexRT(Btn8D) == 1){		//If 8D is pressed, bring arm to minimum height		userArm(rightMinPot,leftMinPot,LOWER ,127);	}}

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);	}}

task usercontrol() {	while (true) {		driveForwardTurnStrafe(DRIVE_SLEW_RATE, vexRT(Ch3), vexRT(Ch4), vexRT(Ch1));		liftSpeeds(LIFT_SLEW_RATE, straight( buttonsToSpeed(Btn5U, Btn5D) ) );		intakeSpeed(INTAKE_SLEW_RATE, buttonsToSpeed(Btn6U, Btn6D) );		constantLoopTime(); //Important for slew	}}

	task drive(){		while(true){			motor[LFdrive] = vexRT(Ch3);			motor[LBMdrive] = vexRT(Ch3);			motor[RFdrive] = vexRT(Ch2);			motor[RBMdrive] = vexRT(Ch2);			wait1Msec(25);		}	}

//Slow down the controls if a button is pressedvoid SlowButton(){	if(vexRT(Btn8D) == true)	{		boolSlowButton = true;	}	if(vexRT(Btn8U) == true)	{		boolSlowButton = false;	}}

//FUNCTION that controls switches between arcade drive and tank drivevoid controlSwitch(){	 //Declaring and initializing variables  	int btn1 = vexRT(Btn7L);  	int btn2 = vexRT(Btn7R);  	//Says if btn1 is pressed it goes to tank control, otherwise it goes to arcade drive  	if(btn1==1){  		switched=true;  	}else if(btn2==1){  		switched=false;  }}

void manualDrive(){	if( abs( vexRT(Ch3) ) > 15 )		motor[DriveLF] = motor[DriveLB] = vexRT(Ch3);	else		motor[DriveLF] = motor[DriveLB] = 0;	if( abs( vexRT(Ch2) ) > 15 )		motor[DriveRB] = motor[DriveRF] = vexRT(Ch2);	else		motor[DriveRB] = motor[DriveRF] = 0;}

task shooter(){	while(true){		if(vexRT(Btn6U)){			while(!vexRT(Btn6D))				speedUpFlywheel();		}		else if(vexRT(Btn6D)){			while(!vexRT(Btn6U))				slowDownFlywheel();		}		wait1Msec(25);	}}

 //This function controls the speed of the wheels, so the drivers will be able to change the speed of the robot based on te situation void gearShift(){	 //Declare and initialize variables	 int buttonUp = vexRT(Btn8L);	 int buttonDown = vexRT(Btn8D);	 //Says if buttonUp is pressed, motor controls are full speed	 if (buttonUp==1){		speedControl=1;	 }	 //Says if buttonDown is pressed, motor controls are half speed	 if (buttonDown==1){	 	speedControl=0.5;	 } }

void checkMode(){	if(vexRT(Btn5U) == 1){		currentMode = SHOOTING_MODE;		} else if(vexRT(Btn5D) == 1){		currentMode = COLLECTING_MODE;	}	if(vexRT(Btn5UXmtr2) == 1){		currentMode2 = SHOOTING_MODE;		} else if(vexRT(Btn5DXmtr2) == 1){		currentMode2 = COLLECTING_MODE;	}}

//Robot B Driver Control programtask main(){	// Set the motors initially	int Presets[4] = {0, 55, 75, 127};	int currentPreset = 0;	motor[REF] = Presets[currentPreset];	motor[RF] = motor[REF];	motor[LF] = motor[RF];	while(true)	{		// Flywheel Speed		if(vexRT(Btn8U))			currentPreset = 0;		else if (vexRT(Btn8R))			currentPreset = 1;		else if (vexRT(Btn8D))			currentPreset = 2;		else if (vexRT(Btn8L))			currentPreset = 3;		motor[REF] = Presets[currentPreset];		motor[RF] = motor[REF];		motor[LF] = motor[RF];		// Fit the input to an exponential curve		// Squares are always positive, so a ternary operator is needed for negative numbers		// The abs is just in case we decide to go with odd exponents or even roots (like 3/2)		// We devide by 128 because the program can theoretically reach -128		int verticalL = pow(abs(vexRT(Ch3))/128.0,2.7)*127.0 *((vexRT(Ch3)>0)?(1):(-1));		int verticalR = pow(abs(vexRT(Ch2))/128.0,2.7)*127.0 *((vexRT(Ch2)>0)?(1):(-1));		// Move Robot		motor[LRW] = verticalL;		motor[LFW] = motor[LRW];		motor[RRW] = verticalR;		motor[RFW] = motor[RRW];		//Feeder control		if(vexRT(Btn6U))			motor[I1] = 127;		else if(vexRT(Btn5U))			motor[I1] = -127;		else	 	   motor[I1] = 0;	 	motor[I2] = motor[I1];	}}

task main(){	int x = 30;	while(true) {		gearSpeed(x);		if(vexRT(Btn8U)==1){			x += 10;		}		if(vexRT(Btn8D)==1){			x += 10;		}		delay(10);	}}

//this code is also called tank drive. One joystick controls 1 side of the robot base.void StandardDrive(){	if(boolSlowButton == true)	{		motor[RightMotor] = vexRT(Ch2)/3;		motor[LeftMotor] = vexRT(Ch3)/3;	}	else	{		motor[RightMotor] = vexRT(Ch2);		motor[LeftMotor] = vexRT(Ch3);	}}

void drive(){	if(vexRT(Ch3) >= drivingThreshhold)	{		left(vexRT(Ch3));	}	else if(vexRT(Ch3) <= -drivingThreshhold)	{		left(vexRT(Ch3));	}	else	{		left(0);	}	if(vexRT(Ch2) >= drivingThreshhold)	{		right(vexRT(Ch2));	}	else if(vexRT(Ch2) <= -drivingThreshhold)	{	  right(vexRT(Ch2));	}	else	{		right(0);	}	if(destroyAllHumans == 1)	{		killeveryone();	}}

void reverseFlywheel() {	if(vexRT(Btn7L)) {		if(getFlywheelVelocity()>10) {			stopTask(abi);			motor[flywheel4] = -5;			while(VexRT(Btn7L) && getFlywheelVelocity()>10) { delay(25); }		} else {			motor[flywheel4] = -127;			while(vexRT(Btn7L)) { delay(25); }			while(motor[flywheel4]<0) { motor[flywheel4]+=2; delay(25); }			motor[flywheel4] = 0;		}	}}

task shooter () {	bool canRunAgain = true;	while (true)	{		if(vexRT(Btn7U))			speed++;		if(vexRT(Btn7D))			speed--;		FwMotorSet(speed);		//sprintf( str, "%4d %4d", target_velocity,  motor_velocity, nImmediateBatteryLevel/1000.0 );		wait1Msec(200);	}}

//+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++task main(){	// Set the motors initially	int Presets[4] = {0, 55, 85, 127};	int currentPreset = 0;	motor[Inside1] = Presets[currentPreset];	motor[Inside2] = motor[Inside1];	motor[Outside1] = motor[Inside1];	motor[Outside2] = motor[Inside1];	while(true)	{		// Flywheel Speed	 if(vexRT(Btn8U))		currentPreset = 0;	 else if (vexRT(Btn8R))	  currentPreset = 1;	 else if (vexRT(Btn8D))	   currentPreset = 2;	 else if (vexRT(Btn8L))	   currentPreset = 3;		motor[Inside1] = Presets[currentPreset];		motor[Inside2] = motor[Inside1];		motor[Outside1] = motor[Inside1];		motor[Outside2] = motor[Inside1];		//Fit the input to an exponential curve		//Squares are always positive, so a ternary operator is needed for negative numbers		//The abs is just in case we decide to go with odd exponents		int verticalL = abs(pow(vexRT(Ch3)/127.0,2.0))*127.0 *((vexRT(Ch3)>0)?(1):(-1));		int verticalR = abs(pow(vexRT(Ch2)/127.0,2.0))*127.0 *((vexRT(Ch2)>0)?(1):(-1));		// Move Robot	  motor[LRWheel] = verticalL;	  motor[LFWheel] = motor[LRWheel];    motor[RRWheel] = verticalR;    motor[RFWheel] = motor[RRWheel];	   if(vexRT(Btn6U))	     SensorValue[Feeder] = 1;	 	 else if (vexRT(Btn5U))	     SensorValue[Feeder] = 0;	}}

task intakeControl () {	while(true) {		string speed;		sprintf(speed, "%d", indexerSpeed);		line(1,speed);		while(true) {			motor[intake] = ((vexRT(Btn5U)||autonIndex)-vexRT(Btn5D))*127;			while (vexRT(Btn5U) || autonIntake) {				if(vexRT(Btn6D) && sensorValue[indexHigh]) {					motor[indexer] = -127;					delay(250);				} else if(vexRT(Btn6U) || autonShoot) {					//if(sensorValue[indexHigh] && getFlywheelVelocity()<currentGoalVelocity+30) {					if(SensorValue[indexHigh]) {						while(time1[T1]<=waitTime) {							motor[indexer] = -7;							delay(25);						}						if(getFlywheelVelocity()>0) {							motor[indexer] = 127;							while(SensorValue[indexHigh] && (vexRT(Btn6U)||autonShoot)) { delay(5); }							clearTimer(T1);						}						else {							motor[indexer] = -7;						}					}					else {						motor[indexer] = 127;					}					delay(50);				} else if(SensorValue[indexLow] || SensorValue[indexHigh]) {					motor[indexer] = -7;				} else {					motor[indexer] = (vexRT(Btn5U)-vexRT(Btn5D))*127;				}				delay(25);			}			if(vexRT(Btn6D) && SensorValue[indexHigh]) {						motor[indexer] = -127;						delay(250);			}			motor[indexer] = vexRT(Btn5D)?-127:0;			delay(25);		}	}}

task intake(){	while(true){		if(vexRT(Btn5U)){			motor[intake1] = 127;		}		else if(vexRT(Btn5D)){			motor[feeder] = 90;		}		else{			motor[intake1] = 0;			motor[feeder] = 0;		}		wait1Msec(25);	}}

task main(){	while(true)	{		//Tank Drive		motor[RMotor]=vexRT(Ch2)*0.75;		motor[LMotor]=vexRT(Ch3)*0.75;		//Arm Control		if (vexRT[Btn6U]==1)		{			motor[Arm]=60;		}		else if (vexRT[Btn6D]==1)		{			motor[Arm]=-60;		}		else		{			motor[Arm]=15;		}		//Claw Control		if (vexRT[Btn5U]==1)		{			motor[Claw]=-60;		}		else		{			motor[Claw]=40;		}		//Thumb Control		if (vexRT[Btn5U]==1)		{			motor[Thumb]=60;		}		else if (vexRT[Btn5D]==1)		{			motor[Thumb]=-30;		}		else		{			motor[Thumb]=0;		}	}}

 /*This is the function that controls the motor for the corn doorif the first button is pressed the door opensif the second button is pressed the door closesotherwise the motor does not move */ void doorMotorControl(){ 	//Declare and initialize btn1 as a button on the vex controller, which may be changed based on driver requests. 	int btn1 = vexRT(Btn6U); 	int btn2 = vexRT(Btn6D); 	if((btn1 == 1)&&(SensorValue(limit)==1)){ 		//This opens the corn door 		motor[doorMotor] = 175; 	} 	else if(btn2 == 1){ 		//This part will turn the motor to close the door 		motor[doorMotor] = -175; 	}	 else{		//This part says that if the buttons are not pushed, the motor does not turn		 motor[doorMotor] = 0;	 } }

void cheesyDrive(){	int wheel;	int throttle;	bool quickTurn = false;	wheel = vexRT(Ch1);		//set right axis on joystick equal to wheel	throttle = vexRT(Ch3);//set left axis on joystick equal to throttle	if(abs(wheel) > QUICKSENS) quickTurn = true;	//if I'm beyond a certain point on my axis, enable quickturn	if(quickTurn) wheel *= QUICKVAL;	//If i'm in quickturn, turn a lot faster than normal	else{		float newThrottle = throttle / 127;		//If I'm not in quickturn turn a little bit slower for control		wheel = newThrottle * SPEEDVAL * wheel;	}	leftSide = throttle + wheel;	//Enable arcade drive with the new values of wheel and throttle	rightSide = throttle - wheel;	leftSide = limit_motor(leftSide);	//Limit both motors in case they're beyond 127	rightSide = limit_motor(rightSide);}

task intakeControl () {	while(true) {		motor[intake] = ((vexRT(Btn5U)||intakeAutonomousIntake)-vexRT(Btn5D))*100;		//Move ball from high limit switch to low limit switch		if(vexRT(Btn6D) && SensorValue[indexHigh]) {			motor[indexer] = -127;			delay(intakeMoveDownTime);		}		//Shooting control		if (vexRT(Btn6U) || intakeAutonomousShoot) {			//if(intakeLongShot?abs(currentShot.velocity-flywheelVelocity)<currentShot.velocityThreshold:true)) {			if(time1[T1]>300 || !intakeLongShot) {				writeDebugStreamLine("%d", flywheelVelocity);				motor[indexer] = 127;				wait1Msec(150);				clearTimer(T1);			}			else {				motor[indexer] = (SensorValue[indexHigh])?0:127;			}		}		//Move ball down even if there is a sensor we want		else if (vexRT(Btn5D))			motor[indexer] = -127;		//Stop ball if ball is at a sensor		else if(SensorValue[indexLow]<intakeLightThreshold && !SensorValue[indexHigh]) {			motor[indexer] = 70;			clearTimer(T2);			while(time1[T2] < intakeMoveUpTime && !SensorValue[indexHigh]) { delay(20); }			motor[indexer] = 0;		}		else			motor[indexer] = 0;		delay(25);	}}

task shooterDJ () {	startTask(feederWait);	int timesFed = 0;	bool canRunAgain = true;	while (true)	{		if(vexRT(Btn7U))			speed++;		if(vexRT(Btn7D))			speed--;		if(SensorValue[ballHigh]&&canRunAgain) {			timesFed++;			speed+=15;//7;		}		if(timesFed>0 & canRunAgain)			canRunAgain = false;		FwMotorSet(speed);		//sprintf( str, "%4d %4d", target_velocity,  motor_velocity, nImmediateBatteryLevel/1000.0 );		wait1Msec(200);	}}

task main() { //This holds the main tasks the robot initially starts with.	startTask(drive); //This starts the drivetask so we can actually drive the robot.	startTask(manipulator);	while(on) {		rightX = vexRT(Ch1);		if(abs(rightX)<thresh){ //This adds a deadzone in the controller's right X axis, so that drivers have more reliable control of the robot.			rightX = 0;		}		rightY = vexRT(Ch2);		if(abs(rightY)<thresh){ //This adds a deadzone in the controller's right Y axis, so that drivers have more reliable control of the robot.			rightY = 0;		}		leftY = vexRT(Ch3);		if(abs(leftY)<thresh){ //This adds a deadzone in the controller's left Y axis, so that drivers have more reliable control of the robot.			leftY = 0;		}		leftX = vexRT(Ch4);		if(abs(leftX)<thresh){ //This adds a deadzone in the controller's left X axis, so that drivers have more reliable control of the robot.			leftX = 0;		}	}}