Auton Selector Setup & Strategy

flowchart TD
    Init([Robot powers on]) --> Setup[Brain screen shows
auton selector menu]
    Setup --> Wait([Wait for user input])
    Wait --> Touch{User touches
screen?}
    Touch -->|"Left side"| Prev[Previous routine in list]
    Touch -->|"Right side"| Next[Next routine in list]
    Touch -->|"Center"| Confirm[Confirm selection]
    Prev --> Update[Update display:
highlight new selection]
    Next --> Update
    Update --> Wait
    Confirm --> Lock[Lock selection
any pre-auton setup runs]
    Lock --> Idle([Wait for match start])
    Idle --> Run[Match begins:
autonomous called
selected routine runs]

    style Init fill:#1e293b,stroke:#22d3ee,stroke-width:2px,color:#e2e8f0
    style Run fill:#1e293b,stroke:#22c55e,stroke-width:2px,color:#e2e8f0
    style Touch fill:#fbbf24,color:#0f172a,stroke:#fbbf24

27 pages on this site mention the auton selector. Here's how to actually set it up — declare routines, register them, use the Brain screen at the field, and recover if you forget to select one.

This is what the EZ Template auton selector looks like on the V5 Brain. Click the ← → buttons to navigate pages. The highlighted page runs when autonomous is enabled.

Setting up the auton selector touches three files. Here's the complete pattern:

Step 1 — Write the functions in autons.cpp:

// src/autons.cpp
void DoNothing() {
  // Safe fallback — always register this one first
}

void MatchLeft() {
  chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
  chassis.pid_wait();
  chassis.pid_turn_set(90_deg, TURN_SPEED);
  chassis.pid_wait();
  // ... more moves
}

void MatchRight() { /* mirror of MatchLeft */ }

void AWP() { /* auton win point routine */ }

void Skills() { /* 60-second skills run */ }

Step 2 — Declare them in autons.hpp:

// include/autons.hpp
#pragma once
void DoNothing();
void MatchLeft();
void MatchRight();
void AWP();
void Skills();

Step 3 — Register in initialize() in main.cpp:

// src/main.cpp — inside void initialize()
ez::as::auton_selector.autons_add({
  {"Do Nothing\n\nSafe fallback",          DoNothing},
  {"Match Left\n\nStart: tile A1",          MatchLeft},
  {"Match Right\n\nStart: tile A6",         MatchRight},
  {"AWP\n\nAuto Win Point routine",          AWP},
  {"Skills\n\n60-second run",               Skills},
});

1. Before queueing: At the pits, verify your selected auton is correct. Navigate with Brain screen buttons. The currently displayed page is what runs.
2. At the field: Plug into the field controller. The Brain screen stays on whatever you left it. You can still change pages after plugging in — right up until the match starts.
3. If you forget to select: "Do Nothing" registered first = page 0 = default when powered on. This is the safe fallback. You will not accidentally run Skills in a qualification match.
4. SD card persistence: If an SD card is in the Brain, EZ Template saves which page was last selected and restores it on power-up. No SD card = always starts at page 0.