✨Field Control State Getter

include/pros/misc.h

@@ -38,9 +38,16 @@
 /// \name V5 Competition
 //@{
 
-#define COMPETITION_DISABLED (1 << 0)
+/*#define COMPETITION_DISABLED (1 << 0)
 #define COMPETITION_AUTONOMOUS (1 << 1)
 #define COMPETITION_CONNECTED (1 << 2)
+#define COMPETITION_SYSTEM (1 << 3)*/
+typedef enum {
+    COMPETITION_DISABLED = 1 << 0,
+	COMPETITION_CONNECTED = 1 << 2,
+	COMPETITION_AUTONOMOUS = 1 << 1,
+	COMPETITION_SYSTEM = 1 << 3,
+} competition_status;
 
 #ifdef __cplusplus
 extern "C" {
@@ -91,7 +98,7 @@ uint8_t competition_get_status(void);
  * }
  * \endcode
  */
-#define competition_is_disabled() ((competition_get_status() & COMPETITION_DISABLED) != 0)
+uint8_t competition_is_disabled();
 
 /**
  * \return True if the V5 Brain is connected to competition control, false otherwise.
@@ -106,7 +113,7 @@ uint8_t competition_get_status(void);
  * }
  * \endcode
  */
-#define competition_is_connected() ((competition_get_status() & COMPETITION_CONNECTED) != 0)
+uint8_t competition_is_connected();
 
 /**
  * \return True if the V5 Brain is in autonomous mode, false otherwise.
@@ -128,7 +135,34 @@ uint8_t competition_get_status(void);
  * }
  * \endcode
  */
-#define competition_is_autonomous() ((competition_get_status() & COMPETITION_AUTONOMOUS) != 0)
+uint8_t competition_is_autonomous();
+
+/**
+ * \return True if the V5 Brain is connected to VEXnet Field Controller, false otherwise.
+ * 
+ * \b Example
+ * \code
+ * void initialize() {
+ *   if (competition_is_field()) {
+ *     // connected to VEXnet Field Controller
+ *   }
+ * }
+ * \endcode
+*/
+uint8_t competition_is_field();
+
+/**
+ * \return True if the V5 Brain is connected to VEXnet Competition Switch, false otherwise.
+ * 
+ * \b Example
+ * \code
+ * void initialize() {
+ *   if (competition_is_switch()) {
+ *     // connected to VEXnet Competition Switch
+ *   }
+ * }
+*/
+uint8_t competition_is_switch();
 
 ///@}
 

include/pros/misc.hpp

@@ -509,6 +509,8 @@ std::uint8_t get_status(void);
 std::uint8_t is_autonomous(void);
 std::uint8_t is_connected(void);
 std::uint8_t is_disabled(void);
+std::uint8_t is_field_control(void);
+std::uint8_t is_competition_switch(void);
 }  // namespace competition
 
 namespace usd {

src/devices/controller.c

@@ -183,3 +183,23 @@ int32_t controller_rumble(controller_id_e_t id, const char* rumble_pattern) {
 uint8_t competition_get_status(void) {
 	return vexCompetitionStatus();
 }
+
+uint8_t competition_is_disabled() {
+    return (competition_get_status() & COMPETITION_DISABLED) != 0;
+}
+
+uint8_t competition_is_connected() {
+    return (competition_get_status() & COMPETITION_CONNECTED) != 0;
+}
+
+uint8_t competition_is_autonomous() {
+	return (competition_get_status() & COMPETITION_AUTONOMOUS) != 0;
+}
+
+uint8_t competition_is_field() {
+	return (competition_get_status() & COMPETITION_SYSTEM) != 0;
+}
+
+uint8_t competition_is_switch() {
+	return (competition_get_status() & COMPETITION_SYSTEM) == 0;
+}

src/devices/controller.cpp

@@ -82,5 +82,14 @@ std::uint8_t is_connected(void) {
 std::uint8_t is_disabled(void) {
 	return competition_is_disabled();
 }
+
+std::uint8_t is_field_control(void) {
+	return competition_is_field();
+}
+
+std::uint8_t is_competition_switch(void) {
+	return competition_is_switch();
+}
+
 }  // namespace competition
 }  // namespace pros

src/main.cpp

@@ -58,7 +58,8 @@ void competition_initialize() {}
  * will be stopped. Re-enabling the robot will restart the task, not re-start it
  * from where it left off.
  */
-void autonomous() {}
+void autonomous() {
+}
 
 /**
  * Runs the operator control code. This function will be started in its own task
@@ -79,8 +80,10 @@ void opcontrol() {
 	pros::MotorGroup right_mg({-4,5,-6}); // Creates a motor group with forwards port 4 and reversed ports 4 & 6
 
 	while (true) {
+
 		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
 		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
+
 		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0); // Prints status of the emulated screen LCDs
 
 		// Arcade control scheme