[mtrawls]

Originally Posted by CharlieWilken

We need help with code in autonomous. We want our robot to turn (left or right) stop and then actuate a relay and move a speed controller motor. We need to know how to make the code and where to put it in the default code.

Thanks team 634

Look in the file user_routines_fast.c and look for User_Autonomous_Code(). You will put your code here. I suggest implementing a simple state machine, e.g.:

switch (auton_state) {
  case TURN:
  {
  // put code to turn in desired direction here
  // change state when you are done turning
  // you'll know this either by a pre-determined time,
  // a gyro reading/accumulation, or an encoder system
  break;
  }
  case ACTUATE:
  {
  // put code here to actuate the relay/move motor
   break;
  }
  ...
  default:
  { // either you have a default condition, or this should print an error
  }
}

You can add as many states as suits your pleasure -- this makes it easy to change how you do the auton mode quickly. Make sure you change the state to the next one once you are done with the current. A little more details/more info on what you want/your robot would help to elicit a more specific response ... but this should get you started.