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/** @file main.h
* @brief Header file for global functions
*
* Any experienced C or C++ programmer knows the importance of header files. For those who
* do not, a header file allows multiple files to reference functions in other files without
* necessarily having to see the code (and therefore causing a multiple definition). To make
* a function in "opcontrol.c", "auto.c", "main.c", or any other C file visible to the core
* implementation files, prototype it here.
*
* This file is included by default in the predefined stubs in each VEX Cortex PROS Project.
*
* Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Purdue University ACM SIG BOTS nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be
* obtained from http://sourceforge.net/projects/freertos/files/ or on request.
*/
#ifndef MAIN_H_
// This prevents multiple inclusion, which isn't bad for this file but is good practice
#define MAIN_H_
#include <API.h>
// Allow usage of this file in C++ programs
#ifdef __cplusplus
extern "C" {
#endif
// A function prototype looks exactly like its declaration, but with a semicolon instead of
// actual code. If a function does not match a prototype, compile errors will occur.
// Prototypes for initialization, operator control and autonomous
/**
* Runs the user autonomous code. This function will be started in its own task with the default
* priority and stack size whenever the robot is enabled via the Field Management System or the
* VEX Competition Switch in the autonomous mode. If the robot is disabled or communications is
* lost, the autonomous task will be stopped by the kernel. Re-enabling the robot will restart
* the task, not re-start it from where it left off.
*
* Code running in the autonomous task cannot access information from the VEX Joystick. However,
* the autonomous function can be invoked from another task if a VEX Competition Switch is not
* available, and it can access joystick information if called in this way.
*
* The autonomous task may exit, unlike operatorControl() which should never exit. If it does
* so, the robot will await a switch to another mode or disable/enable cycle.
*/
void autonomous();
/**
* Runs pre-initialization code. This function will be started in kernel mode one time while the
* VEX Cortex is starting up. As the scheduler is still paused, most API functions will fail.
*
* The purpose of this function is solely to set the default pin modes (pinMode()) and port
* states (digitalWrite()) of limit switches, push buttons, and solenoids. It can also safely
* configure a UART port (usartOpen()) but cannot set up an LCD (lcdInit()).
*/
void initializeIO();
/**
* Runs user initialization code. This function will be started in its own task with the default
* priority and stack size once when the robot is starting up. It is possible that the VEXnet
* communication link may not be fully established at this time, so reading from the VEX
* Joystick may fail.
*
* This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global
* variables, and IMEs.
*
* This function must exit relatively promptly, or the operatorControl() and autonomous() tasks
* will not start. An autonomous mode selection menu like the pre_auton() in other environments
* can be implemented in this task if desired.
*/
void initialize();
/**
* Runs the user operator control code. This function will be started in its own task with the
* default priority and stack size whenever the robot is enabled via the Field Management System
* or the VEX Competition Switch in the operator control mode. If the robot is disabled or
* communications is lost, the operator control task will be stopped by the kernel. Re-enabling
* the robot will restart the task, not resume it from where it left off.
*
* If no VEX Competition Switch or Field Management system is plugged in, the VEX Cortex will
* run the operator control task. Be warned that this will also occur if the VEX Cortex is
* tethered directly to a computer via the USB A to A cable without any VEX Joystick attached.
*
* Code running in this task can take almost any action, as the VEX Joystick is available and
* the scheduler is operational. However, proper use of delay() or taskDelayUntil() is highly
* recommended to give other tasks (including system tasks such as updating LCDs) time to run.
*
* This task should never exit; it should end with some kind of infinite loop, even if empty.
*/
extern Encoder encoder1,encoder2;
void operatorControl();
// End C++ export structure
#ifdef __cplusplus
}
#endif
#endif
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