Multiple Autons

[ideasrule]

You can definitely do it from the Classmate. Just go to the I/O tab and select one or more of the digital inputs. In the code, use station.getInstance().getDigitalInput(number) to get the value of the input, where station is the name of the DriverStation object. There are 10 digital inputs, so you can have 2^10-1=1023 different autonomous programs.

[The Engineer]

where do you assign the switch between the autons in the code do you do it in disabled periodic or robot init

[LukeS]

Originally Posted by ideasrule

You can definitely do it from the Classmate. Just go to the I/O tab and select one or more of the digital inputs. In the code, use station.getInstance().getDigitalInput(number) to get the value of the input, where station is the name of the DriverStation object. There are 10 digital inputs, so you can have 2^10-1=1023 different autonomous programs.

Yes, but I'm fairly certain that you cannot read from the driver station input in autonomous mode.

Also, 1024 different autonomous programs, you only subtract 1 to get the highest number you can represent, so you can represent 0-1023, which is 1024 integers total.

[Tom Bottiglieri]

Originally Posted by LukeS

Yes, but I'm fairly certain that you cannot read from the driver station input in autonomous mode.

You can in disabled. We use a push button on our control board to cycle through autonomous modes. The dashboard gives a read out of the current selection.

[ideasrule]

Originally Posted by LukeS

Yes, but I'm fairly certain that you cannot read from the driver station input in autonomous mode.

I'm very certain that you can because that's exactly what our team did during the Finger Lake Regionals. I put 3 if statements in autonomousInit() and had each of them start a new thread.

Also, 1024 different autonomous programs, you only subtract 1 to get the highest number you can represent, so you can represent 0-1023, which is 1024 integers total.

Oops, you're right; I was getting confused.

[The Engineer]

Ok i really have very little preference to how the switch is made i am just looking for help with the code. if you can tell me anyway to set and switch between autons that would be fantastic

[TubaMorg]

Here is a sniippet of our code that handles auton switiching. It is sanitized, and not all variables are shown declared.
Switching takes place during disabledPeriodic. Care should be taken in teleopinit to clean up after autonomous before heading into teleop mode so that nothing unexpected happens.

public void autonomousPeriodic()
    {
        this.getWatchdog().feed();
        switch (autoMode)
        {
            case 1:
                // Add kick three balls in goal code here
                message("Performing auto in FAR field");
                break;
            case 2:
                // Add kick two balls in goal code here
                message("Performing auto in MID field");
                break;
            case 3:
                // Add kick one ball in goal here
                message("Performing auto in NEAR field");
                break;
            default:
                // Auto program isn't working so do this instead
                message("Doing nothing");
                break;
        }
    }

    public void disabledInit()
    {
        this.getWatchdog().feed();
    }

    public void disabledPeriodic()
    {
        this.getWatchdog().feed();
        // Using joystick trigger to switch modes
        if (!autoTrigger && js_right.getRawButton(1))
        {
            if (autoMode < 4)
            {
                autoMode++;
            } else
            {
                autoMode = 1;
            }
            autoTrigger = true;
        } else if (!js_right.getRawButton(1))
        {
            autoTrigger = false;
        }
        // Update message at driverstation to reflect current
        // mode selection
        switch (autoMode)
        {
            case 1:
                message("1. Autonomous for FAR field");
                break;
            case 2:
                message("2. Autonomous for  MID field");
                break;
            case 3:
                message("3. Autonomous for NEAR field");
                break;
            default:
                message("Do Nothing...in any position!");
                break;
        }
    }
public void message(String s)
    {
        String temp = s;
        if (!temp.equals(userMessage))
        {
            //System.out.println(s);
            userMessage = temp;
            int length = s.length();
            //int numRows = 1;
            String[] row = new String[6];
            for (int i = 0; i < 6; i++)
            {
                row[i] = "";
            }
            if (length > 20)
            {
                int backwards = 5;
                int index = 0;
                // Each line can only hold 21 characters, so
                // break the line in reverse at a space.
                // This will end up not working if a message is STILL
                // too long.  Program must ensure not to send messages
                // too long.
                while (length > 20 && backwards >= 0)
                {
                    index = temp.lastIndexOf(' ', 20);
                    row[backwards] = temp.substring(index);
                    row[backwards].trim();
                    temp = temp.substring(0, index).trim();
                    length = temp.length();
                    backwards--;
                }
                row[backwards]=temp;
            } else
            {
                row[5] = temp;
            }
            // Erase the message box
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kMain6, 1, "                      ");
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser2, 1, "                      ");
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser3, 1, "                      ");
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser4, 1, "                      ");
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser5, 1, "                      ");
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser6, 1, "                      ");
            DriverStationLCD.getInstance().updateLCD();
            // Now write the data
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kMain6, 1, row[0]);
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser2, 1, row[1]);
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser3, 1, row[2]);
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser4, 1, row[3]);
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser5, 1, row[4]);
            DriverStationLCD.getInstance().println(DriverStationLCD.Line.kUser6, 1, row[5]);
            DriverStationLCD.getInstance().updateLCD();
        }
    }

[ideasrule]

Originally Posted by The Engineer

Ok i really have very little preference to how the switch is made i am just looking for help with the code. if you can tell me anyway to set and switch between autons that would be fantastic

Since it doesn't seem like you're the programmer who coded autonomous, get that programmer to do it. It's not a good idea to mess around with somebody else's code because it's very easy to break something or make an error that's super hard to fix.