From 21da73308b1e0403b31ab96238c3dfd29cafc253 Mon Sep 17 00:00:00 2001
From: HakopZarikyan <39071041+HakopZ@users.noreply.github.com>
Date: Fri, 7 Jan 2022 00:42:29 -0800
Subject: [PATCH] Added limit switch for lcd

---
 include/EZ-Template/api.hpp               |  1 +
 include/EZ-Template/pre_auto_selector.hpp | 22 +++++++++++++
 src/EZ-Template/pre_auto_selector.cpp     | 38 +++++++++++++++++++++++
 src/main.cpp                              | 11 +++----
 4 files changed, 66 insertions(+), 6 deletions(-)
 create mode 100644 include/EZ-Template/pre_auto_selector.hpp
 create mode 100644 src/EZ-Template/pre_auto_selector.cpp

diff --git a/include/EZ-Template/api.hpp b/include/EZ-Template/api.hpp
index 71bb03ef..18648270 100644
--- a/include/EZ-Template/api.hpp
+++ b/include/EZ-Template/api.hpp
@@ -12,3 +12,4 @@ file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #include "EZ-Template/drive/drive.hpp"
 #include "EZ-Template/sdcard.hpp"
 #include "EZ-Template/util.hpp"
+#include "EZ-Template/pre_auto_selector.hpp"
diff --git a/include/EZ-Template/pre_auto_selector.hpp b/include/EZ-Template/pre_auto_selector.hpp
new file mode 100644
index 00000000..f55e017d
--- /dev/null
+++ b/include/EZ-Template/pre_auto_selector.hpp
@@ -0,0 +1,22 @@
+#pragma once
+#include "main.h"
+
+namespace ez
+{
+extern  pros::ADIDigitalIn* left_limit_switch;
+extern pros::ADIDigitalIn* right_limit_switch;
+/**
+* Initialize two limitswithces to change pages on the lcd
+*
+* @param left_limit_port
+*        port for the left limit switch
+* @param right_limit_port
+*        port for the right limit switch
+*/
+void limit_switch_lcd_initialize(int left_limit_port, int right_limit_port);
+
+/**
+* pre_auto_task
+*/
+extern pros::Task limit_switch_task;
+}
diff --git a/src/EZ-Template/pre_auto_selector.cpp b/src/EZ-Template/pre_auto_selector.cpp
new file mode 100644
index 00000000..22292db2
--- /dev/null
+++ b/src/EZ-Template/pre_auto_selector.cpp
@@ -0,0 +1,38 @@
+#include "pre_auto_selector.hpp"
+
+namespace ez
+{
+  pros::ADIDigitalIn* left_limit_switch = nullptr;
+  pros::ADIDigitalIn* right_limit_switch = nullptr;
+  void limit_switch_lcd_initialize(int left_limit_port, int right_limit_port)
+  {
+    if(left_limit_port == -1 || right_limit_port == -1)
+    {
+      limit_switch_task.suspend();
+      return;
+    }
+    left_limit_switch = new pros::ADIDigitalIn(left_limit_port);
+    right_limit_switch = new pros::ADIDigitalIn(right_limit_port);
+    limit_switch_task.resume();
+  }
+
+  void limitSwitchTask()
+  {
+    while(true)
+    {
+      if(left_limit_switch || right_limit_switch)
+      {
+        if(left_limit_switch->get_new_press())
+        {
+          ez::as::page_down();
+        }
+        else if(right_limit_switch->get_new_press())
+        {
+          ez::as::page_up();
+        }
+      }
+      pros::delay(20);
+    }
+  }
+  pros::Task limit_switch_task(limitSwitchTask, nullptr);
+}
diff --git a/src/main.cpp b/src/main.cpp
index eacf234e..0d5913dd 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -27,7 +27,7 @@ Drive chassis (
   // eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 2.333.
   // eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 0.6.
   ,2
-  
+
 
   // Uncomment if using tracking wheels
   /*
@@ -56,9 +56,8 @@ Drive chassis (
 void initialize() {
   // Print our branding over your terminal :D
   ez::print_ez_template();
-
   pros::delay(500); // Stop the user from doing anything while legacy ports configure.
-
+  ez::limit_switch_lcd_initialize(-1, -1); //limit switch for lcd
   // Configure your chassis controls
   chassis.toggle_modify_curve_with_controller(true); // Enables modifying the controller curve with buttons on the joysticks
   chassis.set_active_brake(0); // Sets the active brake kP. We recommend 0.1.
@@ -127,9 +126,9 @@ void competition_initialize() {
 void autonomous() {
   chassis.reset_gyro(); // Reset gyro position to 0
   chassis.reset_drive_sensor(); // Reset drive sensors to 0
-  chassis.set_drive_brake(MOTOR_BRAKE_HOLD); // Set motors to hold.  This helps autonomous consistency. 
+  chassis.set_drive_brake(MOTOR_BRAKE_HOLD); // Set motors to hold.  This helps autonomous consistency.
 
-  ez::as::auton_selector.call_selected_auton(); // Calls selected auton from autonomous selector. 
+  ez::as::auton_selector.call_selected_auton(); // Calls selected auton from autonomous selector.
 }
 
 
@@ -152,7 +151,7 @@ void opcontrol() {
   chassis.set_drive_brake(MOTOR_BRAKE_COAST);
 
   while (true) {
-    
+
     chassis.tank(); // Tank control
     // chassis.arcade_standard(ez::SPLIT); // Standard split arcade
     // chassis.arcade_standard(ez::SINGLE); // Standard single arcade