✨Field Control State Getter

include/api.h

@@ -41,8 +41,8 @@
 
 #define PROS_VERSION_MAJOR 4
 #define PROS_VERSION_MINOR 0
-#define PROS_VERSION_PATCH 2
-#define PROS_VERSION_STRING "4.0.2"
+#define PROS_VERSION_PATCH 5
+#define PROS_VERSION_STRING "4.0.5"
 
 #include "pros/adi.h"
 #include "pros/colors.h"

include/pros/misc.h

@@ -41,6 +41,7 @@
 #define COMPETITION_DISABLED (1 << 0)
 #define COMPETITION_AUTONOMOUS (1 << 1)
 #define COMPETITION_CONNECTED (1 << 2)
+#define COMPETITION_SYSTEM (1 << 3)
 
 #ifdef __cplusplus
 extern "C" {
@@ -130,6 +131,17 @@ uint8_t competition_get_status(void);
  */
 #define competition_is_autonomous() ((competition_get_status() & COMPETITION_AUTONOMOUS) != 0)
 
+/**
+ * \return True if the V5 Brain is connected to VEXnet Field Controller, false otherwise.
+*/
+#define competition_is_field_control() ((competition_get_status() & COMPETITION_SYSTEM) != 0)
+
+/**
+ * \return True if the V5 Brain is connected to VEXnet Competition Switch, false otherwise.
+*/
+#define competition_is_competition_switch() ((competition_get_status() & COMPETITION_SYSTEM) == 0)
+
+
 ///@}
 
 /// \name V5 Controller

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);
+bool is_field_control(void);
+bool is_competition_switch(void);
 }  // namespace competition
 
 namespace usd {

src/devices/controller.cpp

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

src/main.cpp

@@ -58,7 +58,25 @@ 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() {
+	while (1) {
+		if (pros::competition::is_field_control()) {
+				printf("[Auton] testing is_field_control(): true\n");
+			}
+			else {
+				printf("[Auton] testing is_field_control(): false\n");
+			}
+
+			if (pros::competition::is_competition_switch()) {
+				printf("[Auton] testing is_competition_switch(): true\n");
+			}
+			else {
+				printf("[Auton] testing is_competition_switch(): false\n");
+			}
+
+			pros::delay(1000);
+	}
+}
 
 /**
  * Runs the operator control code. This function will be started in its own task
@@ -79,8 +97,10 @@ 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

version

@@ -1 +1 @@
-4.0.2
+4.0.5