diff --git a/38535A-4.v5code b/38535A-4.v5code index e294d85..f0f34dd 100644 --- a/38535A-4.v5code +++ b/38535A-4.v5code @@ -1 +1 @@ -{"title":"38535A-4","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"19.10.1015","sdk":"20200203_11_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":2,"uid":"276-4810","options":{}},"isExpertMode":true,"isExpertModeRC":true,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null} \ No newline at end of file +{"title":"38535A-4","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"19.10.1015","sdk":"20200203_11_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":3,"uid":"276-4810","options":{}},"isExpertMode":true,"isExpertModeRC":true,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null} \ No newline at end of file diff --git a/build/38535A4.bin b/build/38535A4.bin index 0a3cae4..06ba5cf 100644 Binary files a/build/38535A4.bin and b/build/38535A4.bin differ diff --git a/build/38535A4.elf b/build/38535A4.elf index e0bec61..143404f 100644 Binary files a/build/38535A4.elf and b/build/38535A4.elf differ diff --git a/build/38535A4.map b/build/38535A4.map index b9bc7da..c0a2d2a 100644 --- a/build/38535A4.map +++ b/build/38535A4.map @@ -75,7 +75,7 @@ Discarded input sections 0x00000000 0x8 build/src/main.o .data.Controller1RightShoulderControlMotorsStopped 0x00000000 0x1 build/src/main.o - .llvm_addrsig 0x00000000 0x17 build/src/main.o + .llvm_addrsig 0x00000000 0x19 build/src/main.o .text 0x00000000 0x0 build/src/robot-config.o .llvm_addrsig 0x00000000 0x4 build/src/robot-config.o .text 0x00000000 0x0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) @@ -367,6 +367,8 @@ Discarded input sections 0x00000000 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) .text.vexDeviceMotorServoTargetSet 0x00000000 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + .text.vexDeviceMotorAbsoluteTargetSet + 0x00000000 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) .text.vexDeviceVisionModeSet 0x00000000 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) .text.vexDeviceVisionModeGet @@ -939,8 +941,6 @@ Discarded input sections 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) .rodata._ZN3vex10range10bitE 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - .rodata._ZN3vex6PORT15E - 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) .data._ZN3vex10rumbleLongE 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) .rodata._ZN3vex17__sdk_cpp_versionE @@ -1017,6 +1017,8 @@ Discarded input sections 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) .rodata._ZN3vex5rightE 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + .rodata._ZN3vex6PORT17E + 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) .rodata._ZN3vex6inchesE 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) .rodata._ZN3vex7secondsE @@ -1084,6 +1086,8 @@ Discarded input sections 0x00000000 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) .text._ZN3vex5motor11setPositionEdNS_13rotationUnitsE 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + .text._ZN3vex5motor8rotateToEdNS_13rotationUnitsEdNS_13velocityUnitsEb + 0x00000000 0xc4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) .text._ZN3vex5motor6spinToEdNS_13rotationUnitsEdNS_13velocityUnitsEb 0x00000000 0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) .text._ZN3vex5motor14spinToPositionEdNS_13rotationUnitsEdNS_13velocityUnitsEb @@ -1829,10 +1833,6 @@ Discarded input sections 0x00000000 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) .text._ZNK3vex5timercvmEv 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) - .text._ZNK3vex5timer4timeENS_9timeUnitsE - 0x00000000 0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) - .text._ZNK3vex5timer5valueEv - 0x00000000 0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) .text._ZN3vex5timer6systemEv 0x00000000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) .text._ZN3vex5timer20systemHighResolutionEv @@ -1991,6 +1991,8 @@ Discarded input sections 0x00000000 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) .text.vexMotorServoTargetSet 0x00000000 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) + .text.vexMotorAbsoluteTargetSet + 0x00000000 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) .text.vexVisionModeSet 0x00000000 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) .text.vexVisionModeGet @@ -2383,7 +2385,7 @@ Linker script and memory map 0x00000400 _FIQ_STACK_SIZE = DEFINED (_FIQ_STACK_SIZE)?_FIQ_STACK_SIZE:0x400 0x00000400 _UNDEF_STACK_SIZE = DEFINED (_UNDEF_STACK_SIZE)?_UNDEF_STACK_SIZE:0x400 -.text 0x03800000 0x4e08 +.text 0x03800000 0x5078 *(.vectors) *(.boot_data) .boot_data 0x03800000 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) @@ -2398,623 +2400,629 @@ Linker script and memory map *(.text) *(.text.*) .text._Z10autonomousv - 0x03800100 0xb34 build/src/main.o + 0x03800100 0x218 build/src/main.o 0x03800100 autonomous() + .text._Z8playbackv + 0x03800318 0x9ac build/src/main.o + 0x03800318 playback() .text._Z14STOPCODE_DEBUGv - 0x03800c34 0x84 build/src/main.o - 0x03800c34 STOPCODE_DEBUG() + 0x03800cc4 0x84 build/src/main.o + 0x03800cc4 STOPCODE_DEBUG() + .text._Z7goToPosN3vex5motorEdd + 0x03800d48 0x74 build/src/main.o + 0x03800d48 goToPos(vex::motor, double, double) + *fill* 0x03800dbc 0x4 .text._Z11usercontrolv - 0x03800cb8 0x7d4 build/src/main.o - 0x03800cb8 usercontrol() - *fill* 0x0380148c 0x4 + 0x03800dc0 0x9ec build/src/main.o + 0x03800dc0 usercontrol() + *fill* 0x038017ac 0x4 .text._Z19controllerBaseInputv - 0x03801490 0x7e0 build/src/main.o - 0x03801490 controllerBaseInput() - .text.main 0x03801c70 0x68 build/src/main.o - 0x03801c70 main + 0x038017b0 0x7e8 build/src/main.o + 0x038017b0 controllerBaseInput() + .text.main 0x03801f98 0x68 build/src/main.o + 0x03801f98 main .text._GLOBAL__sub_I_main.cpp - 0x03801cd8 0x318 build/src/main.o + 0x03802000 0x340 build/src/main.o .text._Z33rc_auto_loop_callback_Controller1v - 0x03801ff0 0x30 build/src/robot-config.o - 0x03801ff0 rc_auto_loop_callback_Controller1() + 0x03802340 0x30 build/src/robot-config.o + 0x03802340 rc_auto_loop_callback_Controller1() .text._Z11vexcodeInitv - 0x03802020 0x28 build/src/robot-config.o - 0x03802020 vexcodeInit() + 0x03802370 0x28 build/src/robot-config.o + 0x03802370 vexcodeInit() .text._GLOBAL__sub_I_robot_config.cpp - 0x03802048 0x34 build/src/robot-config.o - .text.vexMain 0x0380207c 0xb0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) - 0x0380207c vexMain + 0x03802398 0x34 build/src/robot-config.o + .text.vexMain 0x038023cc 0xb0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) + 0x038023cc vexMain .text.__vex_function_prolog - 0x0380212c 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) - 0x0380212c __vex_function_prolog - .text._init 0x03802144 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) - 0x03802144 _init - .text._fini 0x03802148 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) - 0x03802148 _fini + 0x0380247c 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) + 0x0380247c __vex_function_prolog + .text._init 0x03802494 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) + 0x03802494 _init + .text._fini 0x03802498 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) + 0x03802498 _fini .text.vexStdlibVersionLinked - 0x0380214c 0xc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj) - 0x0380214c vexStdlibVersionLinked + 0x0380249c 0xc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj) + 0x0380249c vexStdlibVersionLinked .text.vexStdlibVersionVerify - 0x03802158 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj) - 0x03802158 vexStdlibVersionVerify + 0x038024a8 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj) + 0x038024a8 vexStdlibVersionVerify .text.vexPrivateApiEnable - 0x03802188 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802188 vexPrivateApiEnable + 0x038024d8 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038024d8 vexPrivateApiEnable .text.vexStdlibMismatchError - 0x03802198 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802198 vexStdlibMismatchError + 0x038024e8 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038024e8 vexStdlibMismatchError .text.vexTaskAdd - 0x038021d4 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038021d4 vexTaskAdd + 0x03802524 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802524 vexTaskAdd .text.vexTasksRun - 0x038021e4 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038021e4 vexTasksRun + 0x03802534 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802534 vexTasksRun .text.vexTaskYield - 0x038021f4 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038021f4 vexTaskYield + 0x03802544 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802544 vexTaskYield .text.vexTaskCheckTimeslice - 0x03802204 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802204 vexTaskCheckTimeslice + 0x03802554 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802554 vexTaskCheckTimeslice .text.vexTaskSleep - 0x03802214 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802214 vexTaskSleep + 0x03802564 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802564 vexTaskSleep .text.vexTasksDump - 0x03802224 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802224 vexTasksDump + 0x03802574 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802574 vexTasksDump .text.vexTaskGetTaskIndex - 0x03802240 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802240 vexTaskGetTaskIndex + 0x03802590 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802590 vexTaskGetTaskIndex .text.vexTaskStopAll - 0x03802250 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802250 vexTaskStopAll + 0x038025a0 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038025a0 vexTaskStopAll .text.vexTaskRemoveAllUser - 0x03802260 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802260 vexTaskRemoveAllUser + 0x038025b0 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038025b0 vexTaskRemoveAllUser .text.vexTaskCompletionIdSet - 0x03802294 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802294 vexTaskCompletionIdSet + 0x038025e4 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038025e4 vexTaskCompletionIdSet .text.vexTaskStopWithId - 0x038022a4 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038022a4 vexTaskStopWithId + 0x038025f4 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038025f4 vexTaskStopWithId .text.vexCriticalSection - 0x038022b4 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038022b4 vexCriticalSection + 0x03802604 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802604 vexCriticalSection .text.vexEventAdd - 0x038022e0 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038022e0 vexEventAdd + 0x03802630 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802630 vexEventAdd .text.vexEventUserIndexGet - 0x03802314 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802314 vexEventUserIndexGet + 0x03802664 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802664 vexEventUserIndexGet .text.vexEventAddWithArg - 0x03802330 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802330 vexEventAddWithArg + 0x03802680 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802680 vexEventAddWithArg .text.vexEventsCleanup - 0x0380236c 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x0380236c vexEventsCleanup + 0x038026bc 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038026bc vexEventsCleanup .text.vexDebug - 0x03802398 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802398 vexDebug + 0x038026e8 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038026e8 vexDebug .text.vex_sprintf - 0x038023d0 0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038023d0 vex_sprintf + 0x03802720 0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802720 vex_sprintf .text.vex_vsnprintf - 0x03802410 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802410 vex_vsnprintf + 0x03802760 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802760 vex_vsnprintf .text.vexSystemTimeGet - 0x0380244c 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x0380244c vexSystemTimeGet + 0x0380279c 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x0380279c vexSystemTimeGet .text.vexSystemExitRequest - 0x03802468 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802468 vexSystemExitRequest + 0x038027b8 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038027b8 vexSystemExitRequest .text.vexDeviceGetByIndex - 0x03802484 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802484 vexDeviceGetByIndex + 0x038027d4 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038027d4 vexDeviceGetByIndex .text.vexControllerGet - 0x038024a8 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038024a8 vexControllerGet + 0x038027f8 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038027f8 vexControllerGet .text.vexControllerTextSet - 0x038024d4 0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038024d4 vexControllerTextSet + 0x03802824 0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802824 vexControllerTextSet .text.vexDeviceMotorVelocitySet - 0x03802548 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802548 vexDeviceMotorVelocitySet + 0x03802898 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802898 vexDeviceMotorVelocitySet .text.vexDeviceMotorActualVelocityGet - 0x03802574 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802574 vexDeviceMotorActualVelocityGet + 0x038028c4 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038028c4 vexDeviceMotorActualVelocityGet .text.vexDeviceMotorZeroPositionFlagGet - 0x03802598 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802598 vexDeviceMotorZeroPositionFlagGet + 0x038028e8 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038028e8 vexDeviceMotorZeroPositionFlagGet .text.vexDeviceMotorReverseFlagSet - 0x038025bc 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038025bc vexDeviceMotorReverseFlagSet + 0x0380290c 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x0380290c vexDeviceMotorReverseFlagSet .text.vexDeviceMotorEncoderUnitsSet - 0x038025e8 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038025e8 vexDeviceMotorEncoderUnitsSet + 0x03802938 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802938 vexDeviceMotorEncoderUnitsSet .text.vexDeviceMotorBrakeModeSet - 0x03802614 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802614 vexDeviceMotorBrakeModeSet + 0x03802964 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802964 vexDeviceMotorBrakeModeSet .text.vexDeviceMotorPositionSet - 0x03802640 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802640 vexDeviceMotorPositionSet + 0x03802990 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802990 vexDeviceMotorPositionSet .text.vexDeviceMotorPositionGet - 0x03802674 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802674 vexDeviceMotorPositionGet - .text.vexDeviceMotorAbsoluteTargetSet - 0x03802698 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802698 vexDeviceMotorAbsoluteTargetSet + 0x038029c4 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038029c4 vexDeviceMotorPositionGet .text.vexDeviceMotorRelativeTargetSet - 0x038026d4 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038026d4 vexDeviceMotorRelativeTargetSet + 0x038029e8 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x038029e8 vexDeviceMotorRelativeTargetSet .text.vexDeviceMotorGearingSet - 0x03802710 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802710 vexDeviceMotorGearingSet + 0x03802a24 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802a24 vexDeviceMotorGearingSet .text.vexDeviceMotorGearingGet - 0x0380273c 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x0380273c vexDeviceMotorGearingGet + 0x03802a50 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802a50 vexDeviceMotorGearingGet .text.vexDisplayForegroundColor - 0x03802760 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802760 vexDisplayForegroundColor + 0x03802a74 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802a74 vexDisplayForegroundColor .text.vexDisplayBackgroundColor - 0x03802784 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802784 vexDisplayBackgroundColor + 0x03802a98 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802a98 vexDisplayBackgroundColor .text.vexDisplayTextReference - 0x038027a8 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038027a8 vexDisplayTextReference + 0x03802abc 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802abc vexDisplayTextReference .text.vexDisplayTextSize - 0x038027cc 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038027cc vexDisplayTextSize + 0x03802ae0 0x2c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802ae0 vexDisplayTextSize .text.vexDisplayFontNamedSet - 0x038027f8 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038027f8 vexDisplayFontNamedSet + 0x03802b0c 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802b0c vexDisplayFontNamedSet .text.vexFileDriveStatus - 0x0380281c 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x0380281c vexFileDriveStatus + 0x03802b30 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802b30 vexFileDriveStatus .text.vexSystemStdlibImpureDataAddr - 0x03802840 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802840 vexSystemStdlibImpureDataAddr + 0x03802b54 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802b54 vexSystemStdlibImpureDataAddr .text.vexSystemStdlibImpureDataSize - 0x03802868 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802868 vexSystemStdlibImpureDataSize + 0x03802b7c 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802b7c vexSystemStdlibImpureDataSize .text.vexSystemSaveUserData - 0x03802890 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802890 vexSystemSaveUserData + 0x03802ba4 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802ba4 vexSystemSaveUserData .text.vexDisplayThemeIdGet - 0x038028cc 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x038028cc vexDisplayThemeIdGet + 0x03802be0 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802be0 vexDisplayThemeIdGet .text.vexDeviceEventMaskSet - 0x03802904 0x48 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x03802904 vexDeviceEventMaskSet + 0x03802c18 0x48 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802c18 vexDeviceEventMaskSet .text.vexDeviceEventMaskGet - 0x0380294c 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) - 0x0380294c vexDeviceEventMaskGet + 0x03802c60 0x3c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x03802c60 vexDeviceEventMaskGet .text.vexSystemVersion - 0x03802988 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj) - 0x03802988 vexSystemVersion + 0x03802c9c 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj) + 0x03802c9c vexSystemVersion .text.vexStdlibVersion - 0x03802998 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj) - 0x03802998 vexStdlibVersion + 0x03802cac 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj) + 0x03802cac vexStdlibVersion + *fill* 0x03802cbc 0x4 .text._ZN3vex4waitEdNS_9timeUnitsE - 0x038029a8 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x038029a8 vex::wait(double, vex::timeUnits) + 0x03802cc0 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03802cc0 vex::wait(double, vex::timeUnits) .text._ZN3vex5motorD2Ev - 0x038029d8 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x038029d8 vex::motor::~motor() - 0x038029d8 vex::motor::~motor() + 0x03802cf0 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802cf0 vex::motor::~motor() + 0x03802cf0 vex::motor::~motor() .text._ZN3vex5motorD0Ev - 0x038029f8 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x038029f8 vex::motor::~motor() + 0x03802d10 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802d10 vex::motor::~motor() .text._ZN3vex5motor9installedEv - 0x03802a14 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802a14 vex::motor::installed() + 0x03802d2c 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802d2c vex::motor::installed() .text._ZN3vex5motor15defaultStoppingENS_9brakeTypeE - 0x03802a2c 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802a2c vex::motor::defaultStopping(vex::brakeType) + 0x03802d44 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802d44 vex::motor::defaultStopping(vex::brakeType) .text._ZN3vex5motor11setStoppingENS_9brakeTypeE - 0x03802a5c 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802a5c vex::motor::setStopping(vex::brakeType) + 0x03802d74 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802d74 vex::motor::setStopping(vex::brakeType) .text._ZN3vex5motorC2El - 0x03802a60 0x78 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802a60 vex::motor::motor(long) - 0x03802a60 vex::motor::motor(long) + 0x03802d78 0x78 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802d78 vex::motor::motor(long) + 0x03802d78 vex::motor::motor(long) .text._ZN3vex5motorC2ElNS_11gearSettingEb - 0x03802ad8 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802ad8 vex::motor::motor(long, vex::gearSetting, bool) - 0x03802ad8 vex::motor::motor(long, vex::gearSetting, bool) + 0x03802df0 0x34 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802df0 vex::motor::motor(long, vex::gearSetting, bool) + 0x03802df0 vex::motor::motor(long, vex::gearSetting, bool) .text._ZN3vex5motor10isSpinningEv - 0x03802b0c 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802b0c vex::motor::isSpinning() + 0x03802e24 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802e24 vex::motor::isSpinning() .text._ZN3vex5motor4stopENS_9brakeTypeE - 0x03802b44 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802b44 vex::motor::stop(vex::brakeType) + 0x03802e5c 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802e5c vex::motor::stop(vex::brakeType) .text._ZN3vex5motor4stopEv - 0x03802b74 0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802b74 vex::motor::stop() + 0x03802e8c 0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802e8c vex::motor::stop() .text._ZN3vex5motor16velocityToScaledEdNS_13velocityUnitsE - 0x03802b7c 0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03802b7c vex::motor::velocityToScaled(double, vex::velocityUnits) + 0x03802e94 0x5c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03802e94 vex::motor::velocityToScaled(double, vex::velocityUnits) .text._ZN3vex5motor8velocityENS_13velocityUnitsE - 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0x03803a98 0x90 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) - 0x03803a98 vex::competition::_autonomous() + 0x03803cec 0x90 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) + 0x03803cec vex::competition::_autonomous() .text._ZN3vex11competition14_drivercontrolEv - 0x03803b28 0x90 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) - 0x03803b28 vex::competition::_drivercontrol() + 0x03803d7c 0x90 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) + 0x03803d7c vex::competition::_drivercontrol() .text._ZN3vex11competition8_disableEPv - 0x03803bb8 0xc8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) - 0x03803bb8 vex::competition::_disable(void*) + 0x03803e0c 0xc8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) + 0x03803e0c vex::competition::_disable(void*) .text._ZN3vex11competitionC2Ev - 0x03803c80 0x13c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) - 0x03803c80 vex::competition::competition() - 0x03803c80 vex::competition::competition() + 0x03803ed4 0x13c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) + 0x03803ed4 vex::competition::competition() + 0x03803ed4 vex::competition::competition() .text._ZN3vex11competitionD2Ev - 0x03803dbc 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) - 0x03803dbc vex::competition::~competition() - 0x03803dbc vex::competition::~competition() + 0x03804010 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) + 0x03804010 vex::competition::~competition() + 0x03804010 vex::competition::~competition() .text._ZN3vex11competition10autonomousEPFvvE - 0x03803dc0 0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) - 0x03803dc0 vex::competition::autonomous(void (*)()) + 0x03804014 0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) + 0x03804014 vex::competition::autonomous(void (*)()) .text._ZN3vex11competition13drivercontrolEPFvvE - 0x03803e04 0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) - 0x03803e04 vex::competition::drivercontrol(void (*)()) + 0x03804058 0x44 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_competition.cpp.obj) + 0x03804058 vex::competition::drivercontrol(void (*)()) .text._ZN3vex7triportD2Ev - 0x03803e48 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) - 0x03803e48 vex::triport::~triport() - 0x03803e48 vex::triport::~triport() + 0x0380409c 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + 0x0380409c vex::triport::~triport() + 0x0380409c vex::triport::~triport() .text._ZN3vex7triportD0Ev - 0x03803e80 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) - 0x03803e80 vex::triport::~triport() + 0x038040d4 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + 0x038040d4 vex::triport::~triport() .text._ZN3vex7triport9installedEv - 0x03803e9c 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) - 0x03803e9c vex::triport::installed() + 0x038040f0 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + 0x038040f0 vex::triport::installed() .text._ZN3vex7triport4portC2ElPS0_ - 0x03803eb4 0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) - 0x03803eb4 vex::triport::port::port(long, vex::triport*) - 0x03803eb4 vex::triport::port::port(long, vex::triport*) + 0x03804108 0x74 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + 0x03804108 vex::triport::port::port(long, vex::triport*) + 0x03804108 vex::triport::port::port(long, vex::triport*) .text._ZN3vex7triportC2El - 0x03803f28 0xf0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) - 0x03803f28 vex::triport::triport(long) - 0x03803f28 vex::triport::triport(long) + 0x0380417c 0xf0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + 0x0380417c vex::triport::triport(long) + 0x0380417c vex::triport::triport(long) .text.startup._GLOBAL__sub_I__ZN3vex7triportC2El - 0x03804018 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + 0x0380426c 0x30 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) .text._ZN3vex5colorD2Ev - 0x03804048 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj) - 0x03804048 vex::color::~color() - 0x03804048 vex::color::~color() + 0x0380429c 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj) + 0x0380429c vex::color::~color() + 0x0380429c vex::color::~color() .text.startup._GLOBAL__sub_I__ZN3vex5color5blackE - 0x0380404c 0x164 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj) + 0x038042a0 0x164 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj) .text._ZN3vex5timerD2Ev - 0x038041b0 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) - 0x038041b0 vex::timer::~timer() - 0x038041b0 vex::timer::~timer() + 0x03804404 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) + 0x03804404 vex::timer::~timer() + 0x03804404 vex::timer::~timer() .text._ZN3vex5timer5clearEv - 0x038041b4 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) - 0x038041b4 vex::timer::clear() + 0x03804408 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) + 0x03804408 vex::timer::clear() .text._ZN3vex5timerC2Ev - 0x038041d0 0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) - 0x038041d0 vex::timer::timer() - 0x038041d0 vex::timer::timer() + 0x03804424 0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) + 0x03804424 vex::timer::timer() + 0x03804424 vex::timer::timer() + .text._ZNK3vex5timer4timeENS_9timeUnitsE + 0x03804438 0x40 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) + 0x03804438 vex::timer::time(vex::timeUnits) const + .text._ZNK3vex5timer5valueEv + 0x03804478 0x8 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_timer.cpp.obj) + 0x03804478 vex::timer::value() const .text._ZN3vex10drivetrainD2Ev - 0x038041e4 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x038041e4 vex::drivetrain::~drivetrain() - 0x038041e4 vex::drivetrain::~drivetrain() + 0x03804480 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804480 vex::drivetrain::~drivetrain() + 0x03804480 vex::drivetrain::~drivetrain() .text._ZN3vex10drivetrainD0Ev - 0x0380420c 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x0380420c vex::drivetrain::~drivetrain() + 0x038044a8 0x1c C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038044a8 vex::drivetrain::~drivetrain() .text._ZN3vex10drivetrain8isMovingEv - 0x03804228 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804228 vex::drivetrain::isMoving() + 0x038044c4 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038044c4 vex::drivetrain::isMoving() .text._ZN3vex10drivetrain16setDriveVelocityEdNS_13velocityUnitsE - 0x0380424c 0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x0380424c vex::drivetrain::setDriveVelocity(double, vex::velocityUnits) + 0x038044e8 0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038044e8 vex::drivetrain::setDriveVelocity(double, vex::velocityUnits) + *fill* 0x0380453c 0x4 .text._ZN3vex10drivetrain12setGearRatioEd - 0x038042a0 0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x038042a0 vex::drivetrain::setGearRatio(double) + 0x03804540 0x54 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804540 vex::drivetrain::setGearRatio(double) .text._ZN3vex10drivetrain4turnENS_8turnTypeE - 0x038042f4 0x50 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x038042f4 vex::drivetrain::turn(vex::turnType) + 0x03804594 0x50 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804594 vex::drivetrain::turn(vex::turnType) .text._ZN3vex10drivetrain15setTurnVelocityEdNS_13velocityUnitsE - 0x03804344 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804344 vex::drivetrain::setTurnVelocity(double, vex::velocityUnits) + 0x038045e4 0x28 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038045e4 vex::drivetrain::setTurnVelocity(double, vex::velocityUnits) .text._ZN3vex10drivetrain6isDoneEv - 0x0380436c 0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x0380436c vex::drivetrain::isDone() + 0x0380460c 0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x0380460c vex::drivetrain::isDone() .text._ZN3vex10drivetrain4stopEv - 0x03804380 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804380 vex::drivetrain::stop() + 0x03804620 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804620 vex::drivetrain::stop() .text._ZN3vex10drivetrain21_waitForCompletionAllEv - 0x038043a4 0x60 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x038043a4 vex::drivetrain::_waitForCompletionAll() - *fill* 0x03804404 0x4 + 0x03804644 0x60 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804644 vex::drivetrain::_waitForCompletionAll() + *fill* 0x038046a4 0x4 .text._ZN3vex10drivetrain12distanceToMmEdNS_13distanceUnitsE - 0x03804408 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804408 vex::drivetrain::distanceToMm(double, vex::distanceUnits) + 0x038046a8 0x38 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038046a8 vex::drivetrain::distanceToMm(double, vex::distanceUnits) .text._ZN3vex10drivetrainC2ERNS_5motorES2_dddNS_13distanceUnitsEd - 0x03804440 0x118 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804440 vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double) - 0x03804440 vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double) + 0x038046e0 0x118 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038046e0 vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double) + 0x038046e0 vex::drivetrain::drivetrain(vex::motor&, vex::motor&, double, double, double, vex::distanceUnits, double) .text._ZN3vex10drivetrain12_angleToRevsEdNS_13rotationUnitsE - 0x03804558 0xc0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804558 vex::drivetrain::_angleToRevs(double, vex::rotationUnits) + 0x038047f8 0xc0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038047f8 vex::drivetrain::_angleToRevs(double, vex::rotationUnits) .text._ZN3vex10drivetrain7turnForENS_8turnTypeEdNS_13rotationUnitsEb - 0x03804618 0xbc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804618 vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, bool) + 0x038048b8 0xbc C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x038048b8 vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, bool) .text._ZN3vex10drivetrain7turnForEdNS_13rotationUnitsEb - 0x038046d4 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x038046d4 vex::drivetrain::turnFor(double, vex::rotationUnits, bool) + 0x03804974 0x10 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804974 vex::drivetrain::turnFor(double, vex::rotationUnits, bool) .text._ZN3vex10drivetrain7turnForENS_8turnTypeEdNS_13rotationUnitsEdNS_13velocityUnitsEb - 0x038046e4 0xd0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x038046e4 vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, double, vex::velocityUnits, bool) + 0x03804984 0xd0 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804984 vex::drivetrain::turnFor(vex::turnType, double, vex::rotationUnits, double, vex::velocityUnits, bool) .text._ZN3vex10drivetrain7turnForEdNS_13rotationUnitsEdNS_13velocityUnitsEb - 0x038047b4 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x038047b4 vex::drivetrain::turnFor(double, vex::rotationUnits, double, vex::velocityUnits, bool) + 0x03804a54 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03804a54 vex::drivetrain::turnFor(double, vex::rotationUnits, double, vex::velocityUnits, bool) .text.vexMotorVelocitySet - 0x038047cc 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) - 0x038047cc vexMotorVelocitySet + 0x03804a6c 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) + 0x03804a6c vexMotorVelocitySet .text.vexMotorActualVelocityGet - 0x038047ec 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) - 0x038047ec vexMotorActualVelocityGet + 0x03804a8c 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) + 0x03804a8c vexMotorActualVelocityGet .text.vexMotorZeroPositionFlagGet - 0x03804810 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) - 0x03804810 vexMotorZeroPositionFlagGet + 0x03804ab0 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) + 0x03804ab0 vexMotorZeroPositionFlagGet .text.vexMotorReverseFlagSet - 0x03804828 0x20 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiuser.c.obj) - 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0x03804ec4 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ec4 vex::PORT10 + 0x0380512c 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x0380512c vex::PORT10 .rodata._ZN3vex7forwardE - 0x03804ec8 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ec8 vex::forward + 0x03805130 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805130 vex::forward .rodata._ZN3vex4msecE - 0x03804ecc 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ecc vex::msec + 0x03805134 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805134 vex::msec .rodata._ZN3vex6PORT18E - 0x03804ed0 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ed0 vex::PORT18 + 0x03805138 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805138 vex::PORT18 .rodata._ZN3vex5PORT2E - 0x03804ed4 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ed4 vex::PORT2 + 0x0380513c 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x0380513c vex::PORT2 .rodata._ZN3vex7primaryE - 0x03804ed8 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ed8 vex::primary + 0x03805140 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805140 vex::primary .rodata._ZN3vex7percentE - 0x03804edc 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804edc vex::percent + 0x03805144 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805144 vex::percent + .rodata._ZN3vex6PORT15E + 0x03805148 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805148 vex::PORT15 .rodata._ZN3vex7degreesE - 0x03804ee0 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ee0 vex::degrees + 0x0380514c 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x0380514c vex::degrees .rodata._ZN3vex6PORT22E - 0x03804ee4 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ee4 vex::PORT22 + 0x03805150 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805150 vex::PORT22 .rodata._ZN3vex4holdE - 0x03804ee8 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ee8 vex::hold + 0x03805154 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805154 vex::hold .rodata._ZN3vex6PORT12E - 0x03804eec 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804eec vex::PORT12 + 0x03805158 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805158 vex::PORT12 .rodata._ZN3vex2mmE - 0x03804ef0 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ef0 vex::mm + 0x0380515c 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x0380515c vex::mm .rodata._ZN3vex5PORT8E - 0x03804ef4 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ef4 vex::PORT8 + 0x03805160 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805160 vex::PORT8 .rodata._ZN3vex9ratio18_1E - 0x03804ef8 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804ef8 vex::ratio18_1 - .rodata._ZN3vex6PORT17E - 0x03804efc 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) - 0x03804efc vex::PORT17 + 0x03805164 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805164 vex::ratio18_1 .rodata._ZTVN3vex5motorE - 0x03804f00 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03804f00 vtable for vex::motor + 0x03805168 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03805168 vtable for vex::motor .rodata.str1.1 - 0x03804f18 0x15 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) + 0x03805180 0x15 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) 0x16 (size before relaxing) .rodata.CSWTCH.15 - 0x03804f2d 0xb C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) + 0x03805195 0xb C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) .rodata.CSWTCH.17 - 0x03804f38 0xb C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) + 0x038051a0 0xb C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) .rodata.CSWTCH.23 - 0x03804f43 0x3 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) + 0x038051ab 0x3 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_controller.cpp.obj) .rodata.str1.1 - 0x03804f46 0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj) + 0x038051ae 0x14 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_task.cpp.obj) .rodata.str1.1 - 0x03804f5a 0x2b C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj) - *fill* 0x03804f85 0x3 + 0x038051c2 0x2b C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_brain.cpp.obj) + *fill* 0x038051ed 0x3 .rodata._ZTVN3vex7triportE - 0x03804f88 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) - 0x03804f88 vtable for vex::triport + 0x038051f0 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + 0x038051f0 vtable for vex::triport .rodata._ZTVN3vex10drivetrainE - 0x03804fa0 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) - 0x03804fa0 vtable for vex::drivetrain - *fill* 0x03804fc4 0x4 + 0x03805208 0x24 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_drivetrain.cpp.obj) + 0x03805208 vtable for vex::drivetrain + *fill* 0x0380522c 0x4 .rodata._ZTVN3vex6deviceE - 0x03804fc8 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj) - 0x03804fc8 vtable for vex::device + 0x03805230 0x18 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_device.cpp.obj) + 0x03805230 vtable for vex::device .rodata.str1.4 - 0x03804fe0 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o) + 0x03805248 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o) 0x2 (size before relaxing) *(.gnu.linkonce.r.*) - 0x03804fe4 __rodata_end = . + 0x0380524c __rodata_end = . -.rodata1 0x03804fe4 0x0 - 0x03804fe4 __rodata1_start = . +.rodata1 0x0380524c 0x0 + 0x0380524c __rodata1_start = . *(.rodata1) *(.rodata1.*) - 0x03804fe4 __rodata1_end = . + 0x0380524c __rodata1_end = . -.sdata2 0x03804fe4 0x0 - 0x03804fe4 __sdata2_start = . +.sdata2 0x0380524c 0x0 + 0x0380524c __sdata2_start = . *(.sdata2) *(.sdata2.*) *(.gnu.linkonce.s2.*) - 0x03804fe4 __sdata2_end = . + 0x0380524c __sdata2_end = . -.sbss2 0x03804fe4 0x0 - 0x03804fe4 __sbss2_start = . +.sbss2 0x0380524c 0x0 + 0x0380524c __sbss2_start = . *(.sbss2) *(.sbss2.*) *(.gnu.linkonce.sb2.*) - 0x03804fe4 __sbss2_end = . + 0x0380524c __sbss2_end = . -.data 0x03804fe8 0x44c - 0x03804fe8 __data_start = . +.data 0x03805250 0x454 + 0x03805250 __data_start = . *(.data) *(.data.*) - .data.speedin 0x03804fe8 0x1 build/src/main.o - 0x03804fe8 speedin - *fill* 0x03804fe9 0x7 + .data.speedin 0x03805250 0x1 build/src/main.o + 0x03805250 speedin + *fill* 0x03805251 0x7 .data.driveMultiplier - 0x03804ff0 0x8 build/src/main.o - 0x03804ff0 driveMultiplier + 0x03805258 0x8 build/src/main.o + 0x03805258 driveMultiplier .data.Controller1LeftShoulderControlMotorsStopped - 0x03804ff8 0x1 build/src/main.o - 0x03804ff8 Controller1LeftShoulderControlMotorsStopped + 0x03805260 0x1 build/src/main.o + 0x03805260 Controller1LeftShoulderControlMotorsStopped .data.Controller1UpDownButtonsControlMotorsStopped - 0x03804ff9 0x1 build/src/main.o - 0x03804ff9 Controller1UpDownButtonsControlMotorsStopped + 0x03805261 0x1 build/src/main.o + 0x03805261 Controller1UpDownButtonsControlMotorsStopped .data.DrivetrainLNeedsToBeStopped_Controller1 - 0x03804ffa 0x1 build/src/main.o - 0x03804ffa DrivetrainLNeedsToBeStopped_Controller1 + 0x03805262 0x1 build/src/main.o + 0x03805262 DrivetrainLNeedsToBeStopped_Controller1 .data.DrivetrainRNeedsToBeStopped_Controller1 - 0x03804ffb 0x1 build/src/main.o - 0x03804ffb DrivetrainRNeedsToBeStopped_Controller1 + 0x03805263 0x1 build/src/main.o + 0x03805263 DrivetrainRNeedsToBeStopped_Controller1 .data.IntakeStop - 0x03804ffc 0x1 build/src/main.o - 0x03804ffc IntakeStop - *fill* 0x03804ffd 0x3 + 0x03805264 0x1 build/src/main.o + 0x03805264 IntakeStop + *fill* 0x03805265 0x3 + .data.filenum 0x03805268 0x4 build/src/main.o + 0x03805268 filenum .data.appRunning - 0x03805000 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) - 0x03805000 appRunning + 0x0380526c 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) + 0x0380526c appRunning .data._ZN3vex24__default_motor_velocityE - 0x03805004 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) - 0x03805004 vex::__default_motor_velocity + 0x03805270 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03805270 vex::__default_motor_velocity + *fill* 0x03805274 0x4 .data.impure_data - 0x03805008 0x428 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o) + 0x03805278 0x428 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o) .data._impure_ptr - 0x03805430 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o) - 0x03805430 _impure_ptr + 0x038056a0 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/gcc/libs\libc.a(lib_a-impure.o) + 0x038056a0 _impure_ptr *(.gnu.linkonce.d.*) *(.jcr) *(.got) *(.got.plt) - 0x03805434 __data_end = . + 0x038056a4 __data_end = . -.igot.plt 0x03805434 0x0 +.igot.plt 0x038056a4 0x0 .igot.plt 0x00000000 0x0 build/src/main.o -.data1 0x03805434 0x0 - 0x03805434 __data1_start = . +.data1 0x038056a4 0x0 + 0x038056a4 __data1_start = . *(.data1) *(.data1.*) - 0x03805434 __data1_end = . + 0x038056a4 __data1_end = . .got *(.got) -.ctors 0x03805434 0x0 - 0x03805434 __CTOR_LIST__ = . - 0x03805434 ___CTORS_LIST___ = . +.ctors 0x038056a4 0x0 + 0x038056a4 __CTOR_LIST__ = . + 0x038056a4 ___CTORS_LIST___ = . *crtbegin.o(.ctors) *(EXCLUDE_FILE(*crtend.o) .ctors) *(SORT(.ctors.*)) *(.ctors) - 0x03805434 __CTOR_END__ = . - 0x03805434 ___CTORS_END___ = . + 0x038056a4 __CTOR_END__ = . + 0x038056a4 ___CTORS_END___ = . -.dtors 0x03805434 0x0 - 0x03805434 __DTOR_LIST__ = . - 0x03805434 ___DTORS_LIST___ = . +.dtors 0x038056a4 0x0 + 0x038056a4 __DTOR_LIST__ = . + 0x038056a4 ___DTORS_LIST___ = . *crtbegin.o(.dtors) *(EXCLUDE_FILE(*crtend.o) .dtors) *(SORT(.dtors.*)) *(.dtors) - 0x03805434 __DTOR_END__ = . - 0x03805434 ___DTORS_END___ = . + 0x038056a4 __DTOR_END__ = . + 0x038056a4 ___DTORS_END___ = . -.fixup 0x03805434 0x0 - 0x03805434 __fixup_start = . +.fixup 0x038056a4 0x0 + 0x038056a4 __fixup_start = . *(.fixup) - 0x03805434 __fixup_end = . + 0x038056a4 __fixup_end = . .eh_frame *(.eh_frame) -.eh_framehdr 0x03805434 0x0 - 0x03805434 __eh_framehdr_start = . +.eh_framehdr 0x038056a4 0x0 + 0x038056a4 __eh_framehdr_start = . *(.eh_framehdr) - 0x03805434 __eh_framehdr_end = . + 0x038056a4 __eh_framehdr_end = . .gcc_except_table *(.gcc_except_table) @@ -3253,312 +3264,326 @@ Linker script and memory map *(.mmu_tbl) 0x03808000 __mmu_tbl_end = . -.ARM.exidx 0x03805434 0x8 - 0x03805434 __exidx_start = . +.ARM.exidx 0x038056a4 0x8 + 0x038056a4 __exidx_start = . *(.ARM.exidx*) .ARM.exidx.text._Z10autonomousv - 0x03805434 0x8 build/src/main.o + 0x038056a4 0x8 build/src/main.o + .ARM.exidx.text._Z8playbackv + 0x038056ac 0x0 build/src/main.o + 0x8 (size before relaxing) .ARM.exidx.text._Z14STOPCODE_DEBUGv - 0x0380543c 0x0 build/src/main.o + 0x038056ac 0x0 build/src/main.o + 0x8 (size before relaxing) + .ARM.exidx.text._Z7goToPosN3vex5motorEdd + 0x038056ac 0x0 build/src/main.o 0x8 (size before relaxing) .ARM.exidx.text._Z11usercontrolv - 0x0380543c 0x0 build/src/main.o + 0x038056ac 0x0 build/src/main.o 0x8 (size before relaxing) .ARM.exidx.text._Z19controllerBaseInputv - 0x0380543c 0x0 build/src/main.o + 0x038056ac 0x0 build/src/main.o 0x8 (size before relaxing) .ARM.exidx.text.main - 0x0380543c 0x0 build/src/main.o + 0x038056ac 0x0 build/src/main.o 0x8 (size before relaxing) .ARM.exidx.text._GLOBAL__sub_I_main.cpp - 0x0380543c 0x0 build/src/main.o + 0x038056ac 0x0 build/src/main.o 0x8 (size before relaxing) .ARM.exidx.text._Z33rc_auto_loop_callback_Controller1v - 0x0380543c 0x0 build/src/robot-config.o + 0x038056ac 0x0 build/src/robot-config.o 0x8 (size before relaxing) .ARM.exidx.text._Z11vexcodeInitv - 0x0380543c 0x0 build/src/robot-config.o + 0x038056ac 0x0 build/src/robot-config.o 0x8 (size before relaxing) .ARM.exidx.text._GLOBAL__sub_I_robot_config.cpp - 0x0380543c 0x0 build/src/robot-config.o + 0x038056ac 0x0 build/src/robot-config.o 0x8 (size before relaxing) *(.gnu.linkonce.armexidix.*.*) - 0x0380543c __exidx_end = . + 0x038056ac __exidx_end = . -.rel.dyn 0x0380543c 0x0 +.rel.dyn 0x038056ac 0x0 .rel.iplt 0x00000000 0x0 build/src/main.o -.preinit_array 0x0380543c 0x0 - 0x0380543c __preinit_array_start = . +.preinit_array 0x038056ac 0x0 + 0x038056ac __preinit_array_start = . *(SORT(.preinit_array.*)) *(.preinit_array) - 0x0380543c __preinit_array_end = . + 0x038056ac __preinit_array_end = . -.init_array 0x0380543c 0x10 - 0x0380543c __init_array_start = . +.init_array 0x038056ac 0x10 + 0x038056ac __init_array_start = . *(SORT(.init_array.*)) *(.init_array) - .init_array 0x0380543c 0x4 build/src/main.o - .init_array 0x03805440 0x4 build/src/robot-config.o - .init_array 0x03805444 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) - .init_array 0x03805448 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj) - 0x0380544c __init_array_end = . + .init_array 0x038056ac 0x4 build/src/main.o + .init_array 0x038056b0 0x4 build/src/robot-config.o + .init_array 0x038056b4 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_triport.cpp.obj) + .init_array 0x038056b8 0x4 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_color.cpp.obj) + 0x038056bc __init_array_end = . -.fini_array 0x0380544c 0x0 - 0x0380544c __fini_array_start = . +.fini_array 0x038056bc 0x0 + 0x038056bc __fini_array_start = . *(SORT(.fini_array.*)) *(.fini_array) - 0x0380544c __fini_array_end = . + 0x038056bc __fini_array_end = . .ARM.attributes - 0x0380544c 0x3c - 0x0380544c __ARM.attributes_start = . + 0x038056bc 0x3c + 0x038056bc __ARM.attributes_start = . *(.ARM.attributes) .ARM.attributes - 0x0380544c 0x3a build/src/main.o + 0x038056bc 0x3a build/src/main.o .ARM.attributes - 0x03805486 0x3a build/src/robot-config.o + 0x038056f6 0x3a build/src/robot-config.o .ARM.attributes - 0x038054c0 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) + 0x03805730 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_startup.c.obj) .ARM.attributes - 0x038054f5 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj) + 0x03805765 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_util.c.obj) .ARM.attributes - 0x0380552a 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) + 0x0380579a 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apijump.c.obj) .ARM.attributes - 0x0380555f 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj) + 0x038057cf 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(v5_apiversions.c.obj) .ARM.attributes - 0x03805594 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) + 0x03805804 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_global.cpp.obj) .ARM.attributes - 0x038055c9 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) + 0x03805839 0x35 C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5\libv5rt.a(vex_motor.cpp.obj) .ARM.attributes - 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LOAD C:\Program Files (x86)\VEX Robotics\VEXcode V5 Text\sdk/vexv5/stdlib_0.lib LOAD build/src/main.o LOAD build/src/robot-config.o diff --git a/build/src/main.o b/build/src/main.o index f60b7e3..499c236 100644 Binary files a/build/src/main.o and b/build/src/main.o differ diff --git a/src/main.cpp b/src/main.cpp index dbefd00..d39f078 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,639 +1,683 @@ -/*----------------------------------------------------------------------------*/ -/* */ -/* Module: main.cpp */ -/* Author: VEX */ -/* Created: Thu Sep 26 2019 */ -/* Description: Competition Template */ -/* */ -/*----------------------------------------------------------------------------*/ - -// ---- START VEXCODE CONFIGURED DEVICES ---- -// Robot Configuration: -// [Name] [Type] [Port(s)] -// Drivetrain drivetrain 1, 2 -// LiftMotor motor 18 -// LiftMotor2 motor 12 -// TiltMotor motor 3 -// Controller1 controller -// IntakeR motor 17 -// IntakeL motor 8 -// ---- END VEXCODE CONFIGURED DEVICES ---- - -#include "vex.h" -#include -#include -#include -#include -#include - - -using namespace vex; -bool speedin = true; -double driveMultiplier = 1.0; - -bool apressed = false; -bool bpressed = false; -// A global instance of competition -competition Competition; - -motor LeftDriveSmart = motor(PORT1, ratio18_1, false); -motor RightDriveSmart = motor(PORT2, ratio18_1, true); -drivetrain Drivetrain = - drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295, 130, mm, 1); -motor LiftMotor = motor(PORT18, ratio18_1, true); -motor LiftMotor2 = motor(PORT12, ratio18_1, false); -motor TiltMotor = motor(PORT3, ratio18_1, false); -controller Controller1 = controller(primary); -motor IntakeR = motor(PORT17, ratio18_1, false); -motor IntakeL = motor(PORT8, ratio18_1, true); - -bool Controller1LeftShoulderControlMotorsStopped = true; -bool Controller1RightShoulderControlMotorsStopped = true; -bool Controller1UpDownButtonsControlMotorsStopped = true; -bool DrivetrainLNeedsToBeStopped_Controller1 = true; -bool DrivetrainRNeedsToBeStopped_Controller1 = true; -bool IntakeStop = true; -void controllerBaseInput(); -void STOPCODE_DEBUG(); -// define your global instances of motors and other devices here - -/*---------------------------------------------------------------------------*/ -/* Pre-Autonomous Functions */ -/* */ -/* You may want to perform some actions before the competition starts. */ -/* Do them in the following function. You must return from this function */ -/* or the autonomous and usercontrol tasks will not be started. This */ -/* function is only called once after the V5 has been powered on and */ -/* not every time that the robot is disabled. */ -/*---------------------------------------------------------------------------*/ - -void pre_auton(void) { - // Initializing Robot Configuration. DO NOT REMOVE! - vexcodeInit(); - - // All activities that occur before the competition starts - // Example: clearing encoders, setting servo positions, ... -} - -/*---------------------------------------------------------------------------*/ -/* */ -/* Autonomous Task */ -/* */ -/* This task is used to control your robot during the autonomous phase of */ -/* a VEX Competition. */ -/* */ -/* You must modify the code to add your own robot specific commands here. */ -/*---------------------------------------------------------------------------*/ -std::ifstream ifs; -void goToPos(motor m, double vel, double pos); -void playback(); -std::string instructions; -void autonomous(void) { - // .......................................................................... - // Insert autonomous user code here. - // .......................................................................... - /*STOPCODE_DEBUG(); - LiftMotor.setVelocity(100, percent); - LiftMotor2.setVelocity(100, percent); - TiltMotor.setVelocity(30, percent); - //Drivetrain.driveFor(6, inches);*/ - LiftMotor.resetRotation(); - LiftMotor2.resetRotation(); - TiltMotor.resetRotation(); - IntakeL.resetRotation(); - IntakeR.resetRotation(); - LeftDriveSmart.resetRotation(); - RightDriveSmart.resetRotation(); - - LiftMotor.setStopping(hold); - LiftMotor2.setStopping(hold); - // STOPCODE_DEBUG(); - // uint8_t * instructions = nullptr; - // Brain.SDcard.loadfile("recording.bin", instructions, 2500); // size in - // bytes - ifs.open("recording.txt", std::ofstream::in); - Controller1.Screen.print("File opened"); - timer tim; - tim.clear(); - while (std::getline(ifs, instructions)) { - while (tim.value() < 0.075) { - wait(1, msec); - } - tim.clear(); - playback(); - } - ifs.close(); - STOPCODE_DEBUG(); - Drivetrain.setDriveVelocity(40, percent); - Drivetrain.setTurnVelocity(50, percent); - // Drivetrain.turnFor(5, degrees); - Drivetrain.driveFor(15, inches, false); - wait(2, sec); - Drivetrain.setDriveVelocity(80, percent); - Drivetrain.driveFor(reverse, 16, inches); - wait(1, sec); - // Drivetrain.turnFor(-45, degrees); - STOPCODE_DEBUG(); - LiftMotor.startSpinTo(40 * 7, degrees); // unlock everything - LiftMotor2.startSpinTo(40 * 7, degrees); - waitUntil(LiftMotor.isDone() && LiftMotor2.isDone()); - TiltMotor.startSpinTo(45 * 7, degrees); - LiftMotor.startSpinTo(10 * 7, degrees); - LiftMotor2.startSpinTo(10 * 7, degrees); - waitUntil(LiftMotor.isDone() && LiftMotor2.isDone() && TiltMotor.isDone()); - IntakeL.setVelocity(100, percent); - IntakeR.setVelocity(100, percent); - IntakeL.startSpinTo(-5, rev); - IntakeR.startSpinTo(-5, rev); - TiltMotor.startSpinTo(5, degrees); - waitUntil(TiltMotor.isDone()); - // STOPCODE_DEBUG(); - STOPCODE_DEBUG(); - IntakeL.setVelocity(100, percent); - IntakeR.setVelocity(100, percent); - // IntakeL.startSpinTo(5, rev); // grab preload - // IntakeR.startSpinTo(5, rev); - Drivetrain.setDriveVelocity(80, percent); - Drivetrain.setTurnVelocity(100, percent); - - // Drivetrain.driveFor(24 * 3.5, inches); // drive to the row of 4 (if on that - // tile) - waitUntil(IntakeL.isDone() && IntakeR.isDone()); - // Drivetrain.turnFor(-90, degrees); // turn LEFT - IntakeL.spin(forward); - IntakeR.spin(forward); - Drivetrain.setDriveVelocity(50, percent); - Drivetrain.driveFor(24 * 0.8, inches); // grab 4 cubes - wait(1000, msec); - IntakeL.stop(hold); - IntakeR.stop(hold); // hold the cubes - STOPCODE_DEBUG(); - Drivetrain.driveFor(reverse, 24 * 1.6, inches); // go back - Drivetrain.setTurnVelocity(50, percent); - Drivetrain.turnFor(130, degrees); // turn RIGHT towards corner - Drivetrain.setDriveVelocity(33, percent); - Drivetrain.driveFor(24 * 0.8, inches); // go to corner - TiltMotor.spinTo(50 * 7, degrees); // tilt cubes - IntakeL.setVelocity(20, percent); - IntakeR.setVelocity(20, percent); - IntakeL.startSpinFor(-3, rev); - IntakeR.startSpinFor(-3, rev); // start pushing out cubes - Drivetrain.setDriveVelocity(25, percent); - Drivetrain.driveFor(reverse, 24 * 0.8, inches); // back away slowly -} -void playback() { - int y = 0; - y = instructions.find(" ", 5); - double vel = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - y = instructions.find(" ", 5); - double pos = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - Controller1.Screen.print(vel); - - // LeftDriveSmart.setVelocity(vel, percent); - // LeftDriveSmart.startSpinTo(pos, degrees); - - y = instructions.find(" ", 5); - double vel2 = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - y = instructions.find(" ", 5); - double pos2 = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - //Controller1.Screen.print(vel); - goToPos(LeftDriveSmart, vel, pos); - goToPos(RightDriveSmart, vel2, pos2); - - y = instructions.find(" ", 5); - vel = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - IntakeL.spin(forward, vel, percent); - IntakeR.spin(forward, vel, percent); - - y = instructions.find(" ", 5); - vel = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - y = instructions.find(" ", 5); - pos = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - goToPos(LiftMotor, vel, pos); - goToPos(LiftMotor2, vel, pos); - //LiftMotor2.rotateTo(pos, degrees, vel, velocityUnits::pct, false); - - y = instructions.find(" ", 5); - vel = strtod(instructions.substr(0, y).c_str(), NULL); - instructions = instructions.substr(y + 1); - y = instructions.find(" ", 5); - pos = strtod(instructions.substr(0, y).c_str(), NULL); - goToPos(TiltMotor, vel, pos); - //TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false); - //wait(10, msec); -} -/*---------------------------------------------------------------------------*/ -/* */ -/* User Control Task */ -/* */ -/* This task is used to control your robot during the user control phase of */ -/* a VEX Competition. */ -/* */ -/* You must modify the code to add your own robot specific commands here. */ -/*---------------------------------------------------------------------------*/ -std::ofstream ofs; - -void usercontrol(void) { - LiftMotor.setVelocity(100, percent); - LiftMotor2.setVelocity(100, percent); - TiltMotor.setVelocity(30, percent); - Controller1.Screen.clearScreen(); - Controller1.Screen.setCursor(0, 0); - Controller1.Screen.clearLine(); - Controller1.Screen.print("Normal Driving "); - bool recording = false; - bool donerecording = false; - timer tim2; - // User control code here, inside the loop - while (1) { - // This is the main execution loop for the user control program. - // Each time through the loop your program should update motor + servo - // values based on feedback from the joysticks. - - // ........................................................................ - // Insert user code here. This is where you use the joystick values to - // update your motors, etc. - // ........................................................................ - if (Controller1.ButtonY.pressing()) { - speedin = false; - driveMultiplier = 0.33; - Controller1.Screen.setCursor(0, 0); - Controller1.Screen.clearLine(); - Controller1.Screen.print("Precise Driving "); - } else if (Controller1.ButtonX.pressing()) { - speedin = true; - driveMultiplier = 1; - Controller1.Screen.setCursor(0, 0); - Controller1.Screen.clearLine(); - Controller1.Screen.print("Normal Driving "); - } - if (Controller1.ButtonA.pressing() && !apressed) { - speedin = !speedin; - apressed = true; - } else if (!Controller1.ButtonA.pressing()) - apressed = false; - - if (Controller1.ButtonB.pressing() && !bpressed) { - if (driveMultiplier == 1.0) { - driveMultiplier = 0.33; - Controller1.Screen.setCursor(0, 0); - // Controller1.Screen.clearLine(); - Controller1.Screen.print("Precise Driving"); - } else if (driveMultiplier == 0.33) { - driveMultiplier = 1; - Controller1.Screen.setCursor(0, 0); - // Controller1.Screen.clearLine(); - Controller1.Screen.print("Normal Driving "); - } - bpressed = true; - } else if (!Controller1.ButtonB.pressing()) - bpressed = false; - // uint8_t * data = (uint8_t*)malloc(sizeof(uint8_t) * 5); - if (Controller1.ButtonLeft.pressing() && !recording) { - recording = true; - - LeftDriveSmart.resetRotation(); - RightDriveSmart.resetRotation(); - LiftMotor.resetRotation(); - LiftMotor2.resetRotation(); - TiltMotor.resetRotation(); - IntakeL.resetRotation(); - IntakeR.resetRotation(); - if (Brain.SDcard.isInserted()) { - // create a file with long filename - ofs.open("recording.txt", std::ofstream::out); - } - tim2.clear(); - } - if (Controller1.ButtonRight.pressing()) { - donerecording = true; - } - controllerBaseInput(); - if (recording) { - while (tim2.value() < 0.075) { - wait(1, msec); - } - tim2.clear(); - // count ++; - std::string thisReading = ""; - char output[12]; - snprintf(output, 12, "%f", LeftDriveSmart.velocity(percent)); - thisReading += output; - thisReading += " "; - // output[12] = ""; - snprintf(output, 12, "%f", LeftDriveSmart.rotation(degrees)); - thisReading += output; - thisReading += " "; - - // output[12] = ""; - snprintf(output, 12, "%f", RightDriveSmart.velocity(percent)); - thisReading += output; - thisReading += " "; - // output[12] = ""; - snprintf(output, 12, "%f", RightDriveSmart.rotation(degrees)); - thisReading += output; - thisReading += " "; - - // char output[12]; - snprintf(output, 12, "%f", IntakeL.velocity(percent)); - thisReading += output; - thisReading += " "; - - // output[12] = ""; - snprintf(output, 12, "%f", LiftMotor.velocity(percent)); - thisReading += output; - thisReading += " "; - // output[12] = ""; - snprintf(output, 12, "%f", LiftMotor.rotation(degrees)); - thisReading += output; - thisReading += " "; - - // output[12] = ""; - snprintf(output, 12, "%f", TiltMotor.velocity(percent)); - thisReading += output; - thisReading += " "; - // output[12] = ""; - snprintf(output, 12, "%f", TiltMotor.rotation(degrees)); - thisReading += output; - thisReading += " \n"; - ofs << thisReading; - - // data = (uint8_t*)realloc(data, sizeof(uint8_t) * 5 * count + 5); - // uint8_t* thisReading; - // thisReading = new uint8_t[5]; - /*thisReading = {(uint8_t) (LeftDriveSmart.velocity(percent)+100), - (uint8_t) - (RightDriveSmart.velocity(percent)+100), (uint8_t) - (IntakeL.velocity(percent)+100), (uint8_t) - (LiftMotor.velocity(percent)+100), (uint8_t) - (TiltMotor.velocity(percent)+100) - };*/ - //*(thisReading) = (uint8_t) (LeftDriveSmart.velocity(percent)+100); - //*(thisReading+1) = (uint8_t) (RightDriveSmart.velocity(percent)+100); - //*(thisReading+2) = (uint8_t) (IntakeL.velocity(percent)+100); - //*(thisReading+3) = (uint8_t) (LiftMotor.velocity(percent)+100); - //*(thisReading+4) = (uint8_t) (TiltMotor.velocity(percent)+100); - // int startIndex = count * 5; - // for(int i = 0; i < 5; i++) { - // data[startIndex + i] = thisReading[i]; - //} - if (donerecording) { - // Brain.SDcard.savefile("recording.bin", data, sizeof(data)); - recording = false; - ofs.close(); - } - } else { - wait(20, msec); // Sleep the task for a short amount of time to - // prevent wasted resources. - } - // controllerBaseInput(); - } -} - -// -// Main will set up the competition functions and callbacks. -// -int main() { - // Set up callbacks for autonomous and driver control periods. - Competition.autonomous(autonomous); - Competition.drivercontrol(usercontrol); - - // Run the pre-autonomous function. - pre_auton(); - - // Prevent main from exiting with an infinite loop. - while (true) { - wait(100, msec); - } -} -void STOPCODE_DEBUG() { - Drivetrain.stop(); - LiftMotor.stop(); - LiftMotor2.stop(); - IntakeR.stop(); - IntakeL.stop(); - TiltMotor.stop(); - while (true) - wait(20, msec); -} - -/*void goToPos(motor m, double vel, double pos) { - m.setVelocity(vel, percent); - if (true || pos > m.rotation(degrees)) { - if (vel > 0 && !m.isSpinning()) { - m.spin(forward); - } - } else { - m.stop(); - } - - if (true || pos < m.rotation(degrees)) { - if (vel < 0 && !m.isSpinning()) { - m.spin(forward); - } - } else { - m.stop(); - } -}*/ -void goToPos(motor m, double vel, double pos) { - m.setVelocity(vel, percent); - if (vel != 0 && !m.isSpinning()) { - m.spin(forward); - } -} -void controllerBaseInput() { - - // int drivetrainLeftSideSpeed = Controller1.Axis3.position(); - // int drivetrainRightSideSpeed = Controller1.Axis2.position(); - double axisAngle = - atan2(Controller1.Axis3.position(), Controller1.Axis4.position()); - axisAngle *= 180 / 3.1415926; - - // if(Controller1.Axis4.position() < 0) axisAngle += 180; - // Controller1.Screen.setCursor(0, 50); - // Controller1.Screen.clearLine(); - // Controller1.Screen.print(axisAngle); - int drivetrainLeftSideSpeed = Controller1.Axis3.position(); - int drivetrainRightSideSpeed = Controller1.Axis4.position(); - int powerLevel = - sqrt(Controller1.Axis3.position() * Controller1.Axis3.position() + - Controller1.Axis4.position() * Controller1.Axis4.position()); - // left side - if (axisAngle < 90 && axisAngle >= 0) - drivetrainLeftSideSpeed = powerLevel; - else if (axisAngle <= 181 && axisAngle >= 90) - drivetrainLeftSideSpeed = int(powerLevel * (135 - axisAngle) / 45); - else if (axisAngle >= -181 && axisAngle <= -90) - drivetrainLeftSideSpeed = -powerLevel; - else if (axisAngle > -90 && axisAngle < 0) - drivetrainLeftSideSpeed = int(powerLevel * (45 + axisAngle) / 45); - - if (axisAngle <= 181 && axisAngle >= 90) - drivetrainRightSideSpeed = powerLevel; - else if (axisAngle < 90 && axisAngle >= 0) - drivetrainRightSideSpeed = -int(powerLevel * (45 - axisAngle) / 45); - else if (axisAngle > -90 && axisAngle < 0) - drivetrainRightSideSpeed = -powerLevel; - else if (axisAngle >= -181 && axisAngle <= -90) - drivetrainRightSideSpeed = -int(powerLevel * (135 + axisAngle) / 45); - - if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() > 0 && - (int(axisAngle) == 90 || int(axisAngle) == 0)) { - drivetrainLeftSideSpeed = powerLevel; - drivetrainRightSideSpeed = powerLevel; - } - if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() < 0 && - (int(axisAngle) == -90 || int(axisAngle) == 0)) { - drivetrainLeftSideSpeed = -powerLevel; - drivetrainRightSideSpeed = -powerLevel; - } - if (Controller1.Axis4.position() < 0 && - (int(axisAngle) == 180 || int(axisAngle) == -180 || - int(axisAngle) == 0)) { - drivetrainLeftSideSpeed = -powerLevel; - drivetrainRightSideSpeed = powerLevel; - } - int IntakeSpeed = Controller1.Axis2.position(); - if (IntakeSpeed < 5 && IntakeSpeed > -5) { - // check if the left motor has already been stopped - if (IntakeStop) { - // stop the left drive motor - IntakeL.stop(); - IntakeR.stop(); - // tell the code that the left motor has been stopped - IntakeStop = false; - } - } else { - // reset the toggle so that the deadband code knows to stop the left motor - // next time the input is in the deadband range - IntakeStop = true; - } - // only tell the left drive motor to spin if the values are not in the - // deadband range - if (speedin) { - Controller1.Screen.setCursor(2, 0); - // Controller1.Screen.clearLine(); - Controller1.Screen.print("Fast intake"); - } else { - Controller1.Screen.setCursor(2, 0); - // Controller1.Screen.clearLine(); - Controller1.Screen.print("Slow intake"); - IntakeSpeed /= 4; - } - - if (Controller1.ButtonDown.pressing()) { - drivetrainLeftSideSpeed = -20; - drivetrainRightSideSpeed = -20; - IntakeStop = true; - IntakeSpeed = -20; - } else if (Controller1.ButtonUp.pressing()) { - drivetrainLeftSideSpeed = 20; - drivetrainRightSideSpeed = 20; - IntakeStop = true; - IntakeSpeed = 20; - } else { - drivetrainLeftSideSpeed *= driveMultiplier; - drivetrainRightSideSpeed *= driveMultiplier; - } - if (IntakeStop) { - IntakeL.setVelocity(IntakeSpeed, percent); - IntakeR.setVelocity(IntakeSpeed, percent); - IntakeL.spin(forward); - IntakeR.spin(forward); - } - // check if the value is inside of the deadband range - if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) { - // check if the left motor has already been stopped - if (DrivetrainLNeedsToBeStopped_Controller1) { - // stop the left drive motor - LeftDriveSmart.stop(); - // tell the code that the left motor has been stopped - DrivetrainLNeedsToBeStopped_Controller1 = false; - } - } else { - // reset the toggle so that the deadband code knows to stop the left motor - // next time the input is in the deadband range - DrivetrainLNeedsToBeStopped_Controller1 = true; - } - // check if the value is inside of the deadband range - if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) { - // check if the right motor has already been stopped - if (DrivetrainRNeedsToBeStopped_Controller1) { - // stop the right drive motor - RightDriveSmart.stop(); - // tell the code that the right motor has been stopped - DrivetrainRNeedsToBeStopped_Controller1 = false; - } - } else { - // reset the toggle so that the deadband code knows to stop the right motor - // next time the input is in the deadband range - DrivetrainRNeedsToBeStopped_Controller1 = true; - } - // only tell the left drive motor to spin if the values are not in the - // deadband range - if (DrivetrainLNeedsToBeStopped_Controller1) { - LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent); - LeftDriveSmart.spin(forward); - } - // only tell the right drive motor to spin if the values are not in the - // deadband range - if (DrivetrainRNeedsToBeStopped_Controller1) { - RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent); - RightDriveSmart.spin(forward); - } - // check the ButtonL1/ButtonL2 status to control LiftMotor - if (Controller1.ButtonL1.pressing()) { - LiftMotor.spin(forward); - LiftMotor2.spin(forward); - Controller1LeftShoulderControlMotorsStopped = false; - } else if (Controller1.ButtonL2.pressing()) { - LiftMotor.spin(reverse); - LiftMotor2.spin(reverse); - Controller1LeftShoulderControlMotorsStopped = false; - } else if (!Controller1LeftShoulderControlMotorsStopped) { - LiftMotor.stop(hold); - LiftMotor2.stop(hold); - // set the toggle so that we don't constantly tell the motor to stop when - // the buttons are released - Controller1LeftShoulderControlMotorsStopped = true; - } - - // only tell the right drive motor to spin if the values are not in the - // deadband range - - // check the ButtonR1/ButtonR2 status to control Intake - /*if (Controller1.ButtonR1.pressing()) { - IntakeR.spin(forward); - IntakeL.spin(forward); - Controller1RightShoulderControlMotorsStopped = false; - } else if (Controller1.ButtonR2.pressing()) { - IntakeR.spin(reverse); - IntakeL.spin(reverse); - Controller1RightShoulderControlMotorsStopped = false; - } else if (!Controller1RightShoulderControlMotorsStopped) { - IntakeR.stop(hold); - IntakeL.stop(hold); - // set the toggle so that we don't constantly tell the motor to stop when - the buttons are released Controller1RightShoulderControlMotorsStopped = true; - }*/ - // check the Right Shoulder Buttons status to control TiltMotor - if (Controller1.ButtonR1.pressing()) { - TiltMotor.spin(forward); - Controller1UpDownButtonsControlMotorsStopped = false; - } else if (Controller1.ButtonR2.pressing()) { - TiltMotor.spin(reverse); - Controller1UpDownButtonsControlMotorsStopped = false; - } else if (!Controller1UpDownButtonsControlMotorsStopped) { - TiltMotor.stop(hold); - // set the toggle so that we don't constantly tell the motor to stop when - // the buttons are released - Controller1UpDownButtonsControlMotorsStopped = true; - } -} \ No newline at end of file +/*----------------------------------------------------------------------------*/ +/* */ +/* Module: main.cpp */ +/* Author: VEX */ +/* Created: Thu Sep 26 2019 */ +/* Description: Competition Template */ +/* */ +/*----------------------------------------------------------------------------*/ + +// ---- START VEXCODE CONFIGURED DEVICES ---- +// Robot Configuration: +// [Name] [Type] [Port(s)] +// Drivetrain drivetrain 1, 2 +// LiftMotor motor 18 +// LiftMotor2 motor 12 +// TiltMotor motor 3 +// Controller1 controller +// IntakeR motor 17 +// IntakeL motor 8 +// ---- END VEXCODE CONFIGURED DEVICES ---- + +#include "vex.h" +#include +#include +#include +#include +#include + + +using namespace vex; +bool speedin = true; +double driveMultiplier = 1.0; + +bool apressed = false; +bool bpressed = false; +// A global instance of competition +competition Competition; + +motor LeftDriveSmart = motor(PORT1, ratio18_1, false); +motor RightDriveSmart = motor(PORT2, ratio18_1, true); +drivetrain Drivetrain = + drivetrain(LeftDriveSmart, RightDriveSmart, 319.19, 295, 130, mm, 1); +motor LiftMotor = motor(PORT18, ratio18_1, true); +motor LiftMotor2 = motor(PORT12, ratio18_1, false); +motor TiltMotor = motor(PORT3, ratio18_1, false); +motor TiltMotor2 = motor(PORT10, ratio18_1, true); +controller Controller1 = controller(primary); +motor IntakeR = motor(PORT15, ratio18_1, false); +motor IntakeL = motor(PORT8, ratio18_1, true); + +bool Controller1LeftShoulderControlMotorsStopped = true; +bool Controller1RightShoulderControlMotorsStopped = true; +bool Controller1UpDownButtonsControlMotorsStopped = true; +bool DrivetrainLNeedsToBeStopped_Controller1 = true; +bool DrivetrainRNeedsToBeStopped_Controller1 = true; +bool IntakeStop = true; +void controllerBaseInput(); +void STOPCODE_DEBUG(); +// define your global instances of motors and other devices here + +/*---------------------------------------------------------------------------*/ +/* Pre-Autonomous Functions */ +/* */ +/* You may want to perform some actions before the competition starts. */ +/* Do them in the following function. You must return from this function */ +/* or the autonomous and usercontrol tasks will not be started. This */ +/* function is only called once after the V5 has been powered on and */ +/* not every time that the robot is disabled. */ +/*---------------------------------------------------------------------------*/ + +void pre_auton(void) { + // Initializing Robot Configuration. DO NOT REMOVE! + vexcodeInit(); + + // All activities that occur before the competition starts + // Example: clearing encoders, setting servo positions, ... +} + +/*---------------------------------------------------------------------------*/ +/* */ +/* Autonomous Task */ +/* */ +/* This task is used to control your robot during the autonomous phase of */ +/* a VEX Competition. */ +/* */ +/* You must modify the code to add your own robot specific commands here. */ +/*---------------------------------------------------------------------------*/ +std::ifstream ifs; +void goToPos(motor m, double vel, double pos); +void playback(); +int filenum = 1; +std::string instructions; +void autonomous(void) { + // .......................................................................... + // Insert autonomous user code here. + // .......................................................................... + /*STOPCODE_DEBUG(); + LiftMotor.setVelocity(100, percent); + LiftMotor2.setVelocity(100, percent); + TiltMotor.setVelocity(30, percent); + //Drivetrain.driveFor(6, inches);*/ + LiftMotor.resetRotation(); + LiftMotor2.resetRotation(); + TiltMotor.resetRotation(); + IntakeL.resetRotation(); + IntakeR.resetRotation(); + LeftDriveSmart.resetRotation(); + RightDriveSmart.resetRotation(); + + LiftMotor.setStopping(hold); + LiftMotor2.setStopping(hold); + // STOPCODE_DEBUG(); + // uint8_t * instructions = nullptr; + // Brain.SDcard.loadfile("recording.bin", instructions, 2500); // size in + // bytes + char filename[1] = ""; + snprintf(filename, 2, "%d", filenum); + std::string fn = filename; + fn += ".txt"; + ifs.open(fn, std::ofstream::in); + Controller1.Screen.print("File opened"); + timer tim; + tim.clear(); + while (std::getline(ifs, instructions)) { + while (tim.value() < 0.075) { + wait(1, msec); + } + tim.clear(); + playback(); + } + ifs.close(); + STOPCODE_DEBUG(); + Drivetrain.setDriveVelocity(40, percent); + Drivetrain.setTurnVelocity(50, percent); + // Drivetrain.turnFor(5, degrees); + Drivetrain.driveFor(15, inches, false); + wait(2, sec); + Drivetrain.setDriveVelocity(80, percent); + Drivetrain.driveFor(reverse, 16, inches); + wait(1, sec); + // Drivetrain.turnFor(-45, degrees); + STOPCODE_DEBUG(); + LiftMotor.startSpinTo(40 * 7, degrees); // unlock everything + LiftMotor2.startSpinTo(40 * 7, degrees); + waitUntil(LiftMotor.isDone() && LiftMotor2.isDone()); + TiltMotor.startSpinTo(45 * 7, degrees); + LiftMotor.startSpinTo(10 * 7, degrees); + LiftMotor2.startSpinTo(10 * 7, degrees); + waitUntil(LiftMotor.isDone() && LiftMotor2.isDone() && TiltMotor.isDone()); + IntakeL.setVelocity(100, percent); + IntakeR.setVelocity(100, percent); + IntakeL.startSpinTo(-5, rev); + IntakeR.startSpinTo(-5, rev); + TiltMotor.startSpinTo(5, degrees); + waitUntil(TiltMotor.isDone()); + // STOPCODE_DEBUG(); + STOPCODE_DEBUG(); + IntakeL.setVelocity(100, percent); + IntakeR.setVelocity(100, percent); + // IntakeL.startSpinTo(5, rev); // grab preload + // IntakeR.startSpinTo(5, rev); + Drivetrain.setDriveVelocity(80, percent); + Drivetrain.setTurnVelocity(100, percent); + + // Drivetrain.driveFor(24 * 3.5, inches); // drive to the row of 4 (if on that + // tile) + waitUntil(IntakeL.isDone() && IntakeR.isDone()); + // Drivetrain.turnFor(-90, degrees); // turn LEFT + IntakeL.spin(forward); + IntakeR.spin(forward); + Drivetrain.setDriveVelocity(50, percent); + Drivetrain.driveFor(24 * 0.8, inches); // grab 4 cubes + wait(1000, msec); + IntakeL.stop(hold); + IntakeR.stop(hold); // hold the cubes + STOPCODE_DEBUG(); + Drivetrain.driveFor(reverse, 24 * 1.6, inches); // go back + Drivetrain.setTurnVelocity(50, percent); + Drivetrain.turnFor(130, degrees); // turn RIGHT towards corner + Drivetrain.setDriveVelocity(33, percent); + Drivetrain.driveFor(24 * 0.8, inches); // go to corner + TiltMotor.spinTo(50 * 7, degrees); // tilt cubes + IntakeL.setVelocity(20, percent); + IntakeR.setVelocity(20, percent); + IntakeL.startSpinFor(-3, rev); + IntakeR.startSpinFor(-3, rev); // start pushing out cubes + Drivetrain.setDriveVelocity(25, percent); + Drivetrain.driveFor(reverse, 24 * 0.8, inches); // back away slowly +} +void playback() { + int y = 0; + y = instructions.find(" ", 5); + double vel = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + y = instructions.find(" ", 5); + double pos = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + Controller1.Screen.print(vel); + + // LeftDriveSmart.setVelocity(vel, percent); + // LeftDriveSmart.startSpinTo(pos, degrees); + + y = instructions.find(" ", 5); + double vel2 = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + y = instructions.find(" ", 5); + double pos2 = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + //Controller1.Screen.print(vel); + goToPos(LeftDriveSmart, vel, pos); + goToPos(RightDriveSmart, vel2, pos2); + + y = instructions.find(" ", 5); + vel = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + IntakeL.spin(forward, vel, percent); + IntakeR.spin(forward, vel, percent); + + y = instructions.find(" ", 5); + vel = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + y = instructions.find(" ", 5); + pos = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + goToPos(LiftMotor, vel, pos); + goToPos(LiftMotor2, vel, pos); + //LiftMotor2.rotateTo(pos, degrees, vel, velocityUnits::pct, false); + + y = instructions.find(" ", 5); + vel = strtod(instructions.substr(0, y).c_str(), NULL); + instructions = instructions.substr(y + 1); + y = instructions.find(" ", 5); + pos = strtod(instructions.substr(0, y).c_str(), NULL); + goToPos(TiltMotor, vel, pos); + goToPos(TiltMotor2, -vel, pos); + //TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false); + //wait(10, msec); +} +/*---------------------------------------------------------------------------*/ +/* */ +/* User Control Task */ +/* */ +/* This task is used to control your robot during the user control phase of */ +/* a VEX Competition. */ +/* */ +/* You must modify the code to add your own robot specific commands here. */ +/*---------------------------------------------------------------------------*/ +std::ofstream ofs; + +void usercontrol(void) { + Controller1.Screen.setCursor(4, 0); + // Controller1.Screen.clearLine(); + Controller1.Screen.print(filenum); + LiftMotor.setVelocity(100, percent); + LiftMotor.stop(); + LiftMotor2.setVelocity(100, percent); + LiftMotor2.stop(); + TiltMotor.setVelocity(30, percent); + TiltMotor2.setVelocity(30, percent); + TiltMotor.stop(); + TiltMotor2.stop(); + LeftDriveSmart.stop(); + RightDriveSmart.stop(); + Controller1.Screen.clearScreen(); + Controller1.Screen.setCursor(0, 0); + Controller1.Screen.clearLine(); + Controller1.Screen.print("Normal Driving "); + bool recording = false; + bool donerecording = false; + timer tim2; + // User control code here, inside the loop + while (1) { + // This is the main execution loop for the user control program. + // Each time through the loop your program should update motor + servo + // values based on feedback from the joysticks. + + // ........................................................................ + // Insert user code here. This is where you use the joystick values to + // update your motors, etc. + // ........................................................................ + if (Controller1.ButtonY.pressing()) { + speedin = false; + driveMultiplier = 0.33; + Controller1.Screen.setCursor(0, 0); + Controller1.Screen.clearLine(); + Controller1.Screen.print("Precise Driving "); + } else if (Controller1.ButtonX.pressing()) { + speedin = true; + driveMultiplier = 1; + Controller1.Screen.setCursor(0, 0); + Controller1.Screen.clearLine(); + Controller1.Screen.print("Normal Driving "); + } + if (Controller1.ButtonA.pressing() && !apressed) { + speedin = !speedin; + apressed = true; + } else if (!Controller1.ButtonA.pressing()) + apressed = false; + + if (Controller1.ButtonB.pressing() && !bpressed) { + if (driveMultiplier == 1.0) { + driveMultiplier = 0.33; + Controller1.Screen.setCursor(0, 0); + // Controller1.Screen.clearLine(); + Controller1.Screen.print("Precise Driving"); + } else if (driveMultiplier == 0.33) { + driveMultiplier = 1; + Controller1.Screen.setCursor(0, 0); + // Controller1.Screen.clearLine(); + Controller1.Screen.print("Normal Driving "); + } + bpressed = true; + } else if (!Controller1.ButtonB.pressing()) + bpressed = false; + // uint8_t * data = (uint8_t*)malloc(sizeof(uint8_t) * 5); + if (Controller1.ButtonLeft.pressing() && !recording) { + recording = true; + + LeftDriveSmart.resetRotation(); + RightDriveSmart.resetRotation(); + LiftMotor.resetRotation(); + LiftMotor2.resetRotation(); + TiltMotor.resetRotation(); + TiltMotor2.resetRotation(); + IntakeL.resetRotation(); + IntakeR.resetRotation(); + if (Brain.SDcard.isInserted()) { + // create a file with long filename + char filename[1] = ""; + snprintf(filename, 2, "%d", filenum); + std::string fn = filename; + fn += ".txt"; + ofs.open(fn, std::ofstream::out); + } + tim2.clear(); + } + if (Controller1.ButtonRight.pressing()) { + donerecording = true; + } + if (Controller1.ButtonUp.pressing()) { + filenum ++; + Controller1.Screen.setCursor(4, 0); + // Controller1.Screen.clearLine(); + Controller1.Screen.print(filenum); + wait(250, msec); + } + if (Controller1.ButtonDown.pressing()) { + filenum --; + Controller1.Screen.setCursor(4, 0); + // Controller1.Screen.clearLine(); + Controller1.Screen.print(filenum); + wait(250, msec); + } + controllerBaseInput(); + if (recording) { + while (tim2.value() < 0.075) { + wait(1, msec); + } + tim2.clear(); + // count ++; + std::string thisReading = ""; + char output[12]; + snprintf(output, 12, "%f", LeftDriveSmart.velocity(percent)); + thisReading += output; + thisReading += " "; + // output[12] = ""; + snprintf(output, 12, "%f", LeftDriveSmart.rotation(degrees)); + thisReading += output; + thisReading += " "; + + // output[12] = ""; + snprintf(output, 12, "%f", RightDriveSmart.velocity(percent)); + thisReading += output; + thisReading += " "; + // output[12] = ""; + snprintf(output, 12, "%f", RightDriveSmart.rotation(degrees)); + thisReading += output; + thisReading += " "; + + // char output[12]; + snprintf(output, 12, "%f", IntakeL.velocity(percent)); + thisReading += output; + thisReading += " "; + + // output[12] = ""; + snprintf(output, 12, "%f", LiftMotor.velocity(percent)); + thisReading += output; + thisReading += " "; + // output[12] = ""; + snprintf(output, 12, "%f", LiftMotor.rotation(degrees)); + thisReading += output; + thisReading += " "; + + // output[12] = ""; + snprintf(output, 12, "%f", TiltMotor.velocity(percent)); + thisReading += output; + thisReading += " "; + // output[12] = ""; + snprintf(output, 12, "%f", TiltMotor.rotation(degrees)); + thisReading += output; + thisReading += " \n"; + ofs << thisReading; + + // data = (uint8_t*)realloc(data, sizeof(uint8_t) * 5 * count + 5); + // uint8_t* thisReading; + // thisReading = new uint8_t[5]; + /*thisReading = {(uint8_t) (LeftDriveSmart.velocity(percent)+100), + (uint8_t) + (RightDriveSmart.velocity(percent)+100), (uint8_t) + (IntakeL.velocity(percent)+100), (uint8_t) + (LiftMotor.velocity(percent)+100), (uint8_t) + (TiltMotor.velocity(percent)+100) + };*/ + //*(thisReading) = (uint8_t) (LeftDriveSmart.velocity(percent)+100); + //*(thisReading+1) = (uint8_t) (RightDriveSmart.velocity(percent)+100); + //*(thisReading+2) = (uint8_t) (IntakeL.velocity(percent)+100); + //*(thisReading+3) = (uint8_t) (LiftMotor.velocity(percent)+100); + //*(thisReading+4) = (uint8_t) (TiltMotor.velocity(percent)+100); + // int startIndex = count * 5; + // for(int i = 0; i < 5; i++) { + // data[startIndex + i] = thisReading[i]; + //} + if (donerecording) { + // Brain.SDcard.savefile("recording.bin", data, sizeof(data)); + recording = false; + ofs.close(); + } + } else { + wait(20, msec); // Sleep the task for a short amount of time to + // prevent wasted resources. + } + // controllerBaseInput(); + } +} + +// +// Main will set up the competition functions and callbacks. +// +int main() { + // Set up callbacks for autonomous and driver control periods. + Competition.autonomous(autonomous); + Competition.drivercontrol(usercontrol); + + // Run the pre-autonomous function. + pre_auton(); + + // Prevent main from exiting with an infinite loop. + while (true) { + wait(100, msec); + } +} +void STOPCODE_DEBUG() { + Drivetrain.stop(); + LiftMotor.stop(); + LiftMotor2.stop(); + IntakeR.stop(); + IntakeL.stop(); + TiltMotor.stop(); + TiltMotor2.stop(); + while (true) + wait(20, msec); +} + +/*void goToPos(motor m, double vel, double pos) { + m.setVelocity(vel, percent); + if (true || pos > m.rotation(degrees)) { + if (vel > 0 && !m.isSpinning()) { + m.spin(forward); + } + } else { + m.stop(); + } + + if (true || pos < m.rotation(degrees)) { + if (vel < 0 && !m.isSpinning()) { + m.spin(forward); + } + } else { + m.stop(); + } +}*/ +void goToPos(motor m, double vel, double pos) { + m.setVelocity(vel, percent); + if (vel != 0 && !m.isSpinning()) { + m.spin(forward); + } +} +void controllerBaseInput() { + + // int drivetrainLeftSideSpeed = Controller1.Axis3.position(); + // int drivetrainRightSideSpeed = Controller1.Axis2.position(); + double axisAngle = + atan2(Controller1.Axis3.position(), Controller1.Axis4.position()); + axisAngle *= 180 / 3.1415926; + + // if(Controller1.Axis4.position() < 0) axisAngle += 180; + // Controller1.Screen.setCursor(0, 50); + // Controller1.Screen.clearLine(); + // Controller1.Screen.print(axisAngle); + int drivetrainLeftSideSpeed = Controller1.Axis3.position(); + int drivetrainRightSideSpeed = Controller1.Axis4.position(); + int powerLevel = + sqrt(Controller1.Axis3.position() * Controller1.Axis3.position() + + Controller1.Axis4.position() * Controller1.Axis4.position()); + // left side + if (axisAngle < 90 && axisAngle >= 0) + drivetrainLeftSideSpeed = powerLevel; + else if (axisAngle <= 181 && axisAngle >= 90) + drivetrainLeftSideSpeed = int(powerLevel * (135 - axisAngle) / 45); + else if (axisAngle >= -181 && axisAngle <= -90) + drivetrainLeftSideSpeed = -powerLevel; + else if (axisAngle > -90 && axisAngle < 0) + drivetrainLeftSideSpeed = int(powerLevel * (45 + axisAngle) / 45); + + if (axisAngle <= 181 && axisAngle >= 90) + drivetrainRightSideSpeed = powerLevel; + else if (axisAngle < 90 && axisAngle >= 0) + drivetrainRightSideSpeed = -int(powerLevel * (45 - axisAngle) / 45); + else if (axisAngle > -90 && axisAngle < 0) + drivetrainRightSideSpeed = -powerLevel; + else if (axisAngle >= -181 && axisAngle <= -90) + drivetrainRightSideSpeed = -int(powerLevel * (135 + axisAngle) / 45); + + if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() > 0 && + (int(axisAngle) == 90 || int(axisAngle) == 0)) { + drivetrainLeftSideSpeed = powerLevel; + drivetrainRightSideSpeed = powerLevel; + } + if (Controller1.Axis4.position() == 0 && Controller1.Axis3.position() < 0 && + (int(axisAngle) == -90 || int(axisAngle) == 0)) { + drivetrainLeftSideSpeed = -powerLevel; + drivetrainRightSideSpeed = -powerLevel; + } + if (Controller1.Axis4.position() < 0 && + (int(axisAngle) == 180 || int(axisAngle) == -180 || + int(axisAngle) == 0)) { + drivetrainLeftSideSpeed = -powerLevel; + drivetrainRightSideSpeed = powerLevel; + } + int IntakeSpeed = Controller1.Axis2.position(); + if (IntakeSpeed < 5 && IntakeSpeed > -5) { + // check if the left motor has already been stopped + if (IntakeStop) { + // stop the left drive motor + IntakeL.stop(); + IntakeR.stop(); + // tell the code that the left motor has been stopped + IntakeStop = false; + } + } else { + // reset the toggle so that the deadband code knows to stop the left motor + // next time the input is in the deadband range + IntakeStop = true; + } + // only tell the left drive motor to spin if the values are not in the + // deadband range + if (speedin) { + Controller1.Screen.setCursor(2, 0); + // Controller1.Screen.clearLine(); + Controller1.Screen.print("Fast intake"); + Controller1.Screen.setCursor(4, 0); + Controller1.Screen.print(filenum); + } else { + Controller1.Screen.setCursor(2, 0); + // Controller1.Screen.clearLine(); + Controller1.Screen.print("Slow intake"); + Controller1.Screen.setCursor(4, 0); + Controller1.Screen.print(filenum); + IntakeSpeed /= 4; + } + + /*if (Controller1.ButtonDown.pressing()) { + drivetrainLeftSideSpeed = -20; + drivetrainRightSideSpeed = -20; + IntakeStop = true; + IntakeSpeed = -20; + } else if (Controller1.ButtonUp.pressing()) { + drivetrainLeftSideSpeed = 20; + drivetrainRightSideSpeed = 20; + IntakeStop = true; + IntakeSpeed = 20; + } else {*/ + drivetrainLeftSideSpeed *= driveMultiplier; + drivetrainRightSideSpeed *= driveMultiplier; + //} + if (IntakeStop) { + IntakeL.setVelocity(IntakeSpeed, percent); + IntakeR.setVelocity(IntakeSpeed, percent); + IntakeL.spin(forward); + IntakeR.spin(forward); + } + // check if the value is inside of the deadband range + if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) { + // check if the left motor has already been stopped + if (DrivetrainLNeedsToBeStopped_Controller1) { + // stop the left drive motor + LeftDriveSmart.stop(); + // tell the code that the left motor has been stopped + DrivetrainLNeedsToBeStopped_Controller1 = false; + } + } else { + // reset the toggle so that the deadband code knows to stop the left motor + // next time the input is in the deadband range + DrivetrainLNeedsToBeStopped_Controller1 = true; + } + // check if the value is inside of the deadband range + if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) { + // check if the right motor has already been stopped + if (DrivetrainRNeedsToBeStopped_Controller1) { + // stop the right drive motor + RightDriveSmart.stop(); + // tell the code that the right motor has been stopped + DrivetrainRNeedsToBeStopped_Controller1 = false; + } + } else { + // reset the toggle so that the deadband code knows to stop the right motor + // next time the input is in the deadband range + DrivetrainRNeedsToBeStopped_Controller1 = true; + } + // only tell the left drive motor to spin if the values are not in the + // deadband range + if (DrivetrainLNeedsToBeStopped_Controller1) { + LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent); + LeftDriveSmart.spin(forward); + } + // only tell the right drive motor to spin if the values are not in the + // deadband range + if (DrivetrainRNeedsToBeStopped_Controller1) { + RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent); + RightDriveSmart.spin(forward); + } + // check the ButtonL1/ButtonL2 status to control LiftMotor + if (Controller1.ButtonL1.pressing()) { + LiftMotor.spin(forward); + LiftMotor2.spin(forward); + Controller1LeftShoulderControlMotorsStopped = false; + } else if (Controller1.ButtonL2.pressing()) { + LiftMotor.spin(reverse); + LiftMotor2.spin(reverse); + Controller1LeftShoulderControlMotorsStopped = false; + } else if (!Controller1LeftShoulderControlMotorsStopped) { + LiftMotor.stop(hold); + LiftMotor2.stop(hold); + // set the toggle so that we don't constantly tell the motor to stop when + // the buttons are released + Controller1LeftShoulderControlMotorsStopped = true; + } + + // only tell the right drive motor to spin if the values are not in the + // deadband range + + // check the ButtonR1/ButtonR2 status to control Intake + /*if (Controller1.ButtonR1.pressing()) { + IntakeR.spin(forward); + IntakeL.spin(forward); + Controller1RightShoulderControlMotorsStopped = false; + } else if (Controller1.ButtonR2.pressing()) { + IntakeR.spin(reverse); + IntakeL.spin(reverse); + Controller1RightShoulderControlMotorsStopped = false; + } else if (!Controller1RightShoulderControlMotorsStopped) { + IntakeR.stop(hold); + IntakeL.stop(hold); + // set the toggle so that we don't constantly tell the motor to stop when + the buttons are released Controller1RightShoulderControlMotorsStopped = true; + }*/ + // check the Right Shoulder Buttons status to control TiltMotor + if (Controller1.ButtonR1.pressing()) { + TiltMotor.spin(forward); + TiltMotor2.spin(forward); + Controller1UpDownButtonsControlMotorsStopped = false; + } else if (Controller1.ButtonR2.pressing()) { + TiltMotor.spin(reverse); + TiltMotor2.spin(reverse); + Controller1UpDownButtonsControlMotorsStopped = false; + } else if (!Controller1UpDownButtonsControlMotorsStopped) { + TiltMotor.stop(hold); + TiltMotor.stop(hold); + // set the toggle so that we don't constantly tell the motor to stop when + // the buttons are released + Controller1UpDownButtonsControlMotorsStopped = true; + } +}