auton selector on VCS

main.cpp

#include "robot-config.h"

void make_button(int x, int y, int tx, int ty, char *title, vex::color c, int w = 80, int h = 40) {
    Brain.Screen.drawRectangle(x,y,w,h,c);
    Brain.Screen.setFillColor(c);
    Brain.Screen.printAt(x+tx,y+ty,title);
}

bool is_clicked(int bx, int by, int w = 80, int h = 40) {
    int x = Brain.Screen.xPosition();
    int y = Brain.Screen.yPosition();
    int rx = x - bx;
    int ry = y - by;
    return rx >  0 && rx < w && ry >  0 && ry < h;
}

// global variable
bool isBuleSide = false; // true = blue
bool isFarField = false; // true = far field
bool isAutoEnable = true; // true = enable

int main() {
    while (true) {
        Brain.Screen.setFillColor(color::black);
        Brain.Screen.printAt(10,45,"Side:");
        Brain.Screen.printAt(10,95,"Field:");
        Brain.Screen.printAt(50,140,"Skip auton");
        if (isBuleSide) {
            make_button(80,20,25,27,"RED",color::red);
        } else {
            make_button(80,20,20,27,"BLUE",color::blue);
        }
        if (isFarField) {
            make_button(80,70,25,27,"FAR",color::orange);
        } else {
            make_button(80,70,20,27,"FLAG",color::purple);
        }
        if (isAutoEnable) {
            make_button(10,120,15,15,"",color::black,30,30);
        } else {
            make_button(10,120,15,15,"",color::green,30,30);
            Brain.Screen.setFillColor(color::white);
            Brain.Screen.drawLine(80,20,160,60);
            Brain.Screen.drawLine(80,70,160,110);
        }
        while (!Brain.Screen.pressing()) task::sleep(50);
        while (Brain.Screen.pressing()) task::sleep(50);
        if (is_clicked(10,120,120)) {
            isAutoEnable = !isAutoEnable;
        }else if (is_clicked(80,20) && isAutoEnable) {
            isBuleSide = !isBuleSide;
        } else if (is_clicked(80,70) && isAutoEnable) {
            isFarField = !isFarField;
        }
    }
}

main_competition.cpp

#include "robot-config.h"
/*---------------------------------------------------------------------------*/
/*                                                                           */
/*        Description: Competition template for VCS VEX V5                   */
/*                                                                           */
/*---------------------------------------------------------------------------*/

void make_button(int x, int y, int tx, int ty, char *title, vex::color c, int w = 80, int h = 40) {
    Brain.Screen.drawRectangle(x,y,w,h,c);
    Brain.Screen.setFillColor(c);
    Brain.Screen.printAt(x+tx,y+ty,title);
}

bool is_clicked(int bx, int by, int w = 80, int h = 40) {
    int x = Brain.Screen.xPosition();
    int y = Brain.Screen.yPosition();
    int rx = x - bx;
    int ry = y - by;
    return rx >  0 && rx < w && ry >  0 && ry < h;
}

// global variable
bool isBuleSide = false; // true = blue
bool isFarField = false; // true = far field
bool isAutoEnable = true; // true = enable

void disabled(){
    while (!Competition.isEnabled()) {
        Brain.Screen.setFillColor(color::black);
        Brain.Screen.printAt(10,45,"Side:");
        Brain.Screen.printAt(10,95,"Field:");
        Brain.Screen.printAt(50,140,"Skip auton");
        if (isBuleSide) {
            make_button(80,20,25,27,"RED",color::red);
        } else {
            make_button(80,20,20,27,"BLUE",color::blue);
        }
        if (isFarField) {
            make_button(80,70,25,27,"FAR",color::orange);
        } else {
            make_button(80,70,20,27,"FLAG",color::purple);
        }
        if (isAutoEnable) {
            make_button(10,120,15,15,"",color::black,30,30);
        } else {
            make_button(10,120,15,15,"",color::green,30,30);
            Brain.Screen.setFillColor(color::white);
            Brain.Screen.drawLine(80,20,160,60);
            Brain.Screen.drawLine(80,70,160,110);
        }
        while (!Brain.Screen.pressing() && !Competition.isEnabled()) task::sleep(50);
        while (Brain.Screen.pressing() && !Competition.isEnabled()) task::sleep(50);
        if (Competition.isEnabled()) break;
        
        if (is_clicked(10,120,120)) {
            isAutoEnable = !isAutoEnable;
        }else if (is_clicked(80,20) && isAutoEnable) {
            isBuleSide = !isBuleSide;
        } else if (is_clicked(80,70) && isAutoEnable) {
            isFarField = !isFarField;
        }
    }
}

/*---------------------------------------------------------------------------*/
/*                          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 cortex has been powered on and    */
/*  not every time that the robot is disabled.                               */
/*---------------------------------------------------------------------------*/

void pre_auton( void ) {
  // 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.   */
/*---------------------------------------------------------------------------*/

void autonomous( void ) {
  // ..........................................................................
  // Insert autonomous user code here.
  // ..........................................................................

}

/*----------------------------------------------------------------------------*/
/*                                                                            */
/*                              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.    */
/*----------------------------------------------------------------------------*/

void usercontrol( void ) {
  // 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.
    // ........................................................................
 
    vex::task::sleep(20); //Sleep the task for a short amount of time to prevent wasted resources. 
  }
}

//
// Main will set up the competition functions and callbacks.
//
int main() {
    
    //Run the pre-autonomous function. 
    pre_auton();
    
    //Set up callbacks for autonomous and driver control periods.
    Competition.autonomous( autonomous );
    Competition.drivercontrol( usercontrol );

    while(1) {
        while(Competition.isEnabled()) vex::task::sleep(50);
        disabled();
        Brain.Screen.clearScreen();
    }    
       
}