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自动阶段是什么？What Is the Autonomous Period?

1.1 VEX 比赛流程1.1 VEX Match Structure

每场 VEX 比赛分为两个阶段：Each VEX match is split into two periods:

自动阶段（Autonomous）Autonomous Period：开场 15 秒，机器人自己动，不能碰遥控器: The first 15 seconds where the robot moves on its own -- no touching the controller
手动阶段（Driver Control）Driver Control Period：剩下 1 分 45 秒，操作手用遥控器控制: The remaining 1 minute 45 seconds where the driver controls the robot

自动阶段的分数可能决定一场比赛的胜负。很多比赛，双方手动阶段打得差不多，最终谁赢就看自动阶段多拿了几分。The autonomous score can decide a match. In many matches, both sides score similarly during driver control, so whoever scores more in autonomous wins.

策略思维：15 秒能做什么？Strategic Thinking: What Can You Do in 15 Seconds?

15 秒听起来很短，但如果程序写得好，机器人可以：先拿最近的得分物 → 推到得分区 → 触碰色块。关键是先拿近的、容易的，不要贪多。15 seconds sounds short, but with good programming, the robot can: grab the nearest scoring object -> push it to the scoring zone -> touch the color pad. The key is to go for what's close and easy first -- don't be greedy.

1.2 autonomous() 函数1.2 The autonomous() Function

自动阶段的代码写在一个专门的函数里。比赛系统会在自动阶段开始时自动调用它。The autonomous code goes in a dedicated function. The competition system automatically calls it when the autonomous period begins.

C++ (VEXcode)

// 比赛模板
competition Competition;

// 自动阶段：15 秒，机器人自己跑
void autonomous() {
    // 你的自动代码写在这里
}

// 手动阶段：1 分 45 秒，遥控器控制
void userControl() {
    // 你的手动代码写在这里
}

int main() {
    Competition.autonomous(autonomous);
    Competition.drivercontrol(userControl);

    while (true) {
        wait(100, msec);
    }
}

代码解释：Code explanation:

competition Competition; — 创建比赛对象Create a competition object
Competition.autonomous(autonomous) — 告诉系统：自动阶段执行 autonomous 函数Tell the system: run the autonomous function during autonomous period
Competition.drivercontrol(userControl) — 告诉系统：手动阶段执行 userControl 函数Tell the system: run the userControl function during driver control
while (true) — 主循环保持程序运行，不让程序退出Main loop keeps the program running, prevents it from exiting

C++ (VS Code)

// 比赛模板
competition Competition;

// 自动阶段：15 秒，机器人自己跑
void autonomous() {
    // 你的自动代码写在这里
}

// 手动阶段：1 分 45 秒，遥控器控制
void userControl() {
    // 你的手动代码写在这里
}

int main() {
    Competition.autonomous(autonomous);
    Competition.drivercontrol(userControl);

    while (true) {
        wait(100, msec);
    }
}

代码解释：Code explanation:

competition Competition; — 创建比赛对象Create a competition object
Competition.autonomous(autonomous) — 告诉系统：自动阶段执行 autonomous 函数Tell the system: run the autonomous function during autonomous period
Competition.drivercontrol(userControl) — 告诉系统：手动阶段执行 userControl 函数Tell the system: run the userControl function during driver control
while (true) — 主循环保持程序运行，不让程序退出Main loop keeps the program running, prevents it from exiting

C++ (PROS)

// PROS 自动提供这些函数，你只需要填内容

// 初始化（程序启动时运行）
void initialize() {
    // 传感器初始化等
}

// 自动阶段：15 秒
void autonomous() {
    // 你的自动代码写在这里
}

// 手动阶段：1 分 45 秒
void opcontrol() {
    // 你的手动代码写在这里
}

PROS 的结构更简单：不需要手动注册回调，系统会自动在对应阶段调用对应函数。PROS has a simpler structure: no need to manually register callbacks -- the system automatically calls the corresponding function for each period.

1.3 自动 vs 手动：代码有什么不同？1.3 Autonomous vs Driver Control: What's Different in the Code?

核心区别Key Difference

手动阶段Driver control：代码在 while 循环里不断读遥控器输入，根据摇杆值控制电机。: Code runs in a while loop, constantly reading controller input and controlling motors based on joystick values.
自动阶段Autonomous：没有遥控器输入！代码是一步一步的指令序列——先做这个，再做那个，像菜谱一样。: No controller input! The code is a step-by-step sequence of commands -- do this first, then that, like a recipe.

C++ (VEXcode)

// 手动阶段 — 不断循环读遥控器
void userControl() {
    while (true) {
        int speed = Controller1.Axis3.position();
        LeftMotor.spin(forward, speed, percent);
        wait(20, msec);
    }
}

// 自动阶段 — 按顺序执行指令
void autonomous() {
    // 第 1 步：前进
    LeftMotor.spin(forward, 50, percent);
    RightMotor.spin(forward, 50, percent);
    wait(2, seconds);

    // 第 2 步：停
    LeftMotor.stop();
    RightMotor.stop();
}

C++ (VS Code)

// 手动阶段 — 不断循环读遥控器
void userControl() {
    while (true) {
        int speed = Controller1.Axis3.position();
        LeftMotor.spin(forward, speed, percent);
        wait(20, msec);
    }
}

// 自动阶段 — 按顺序执行指令
void autonomous() {
    // 第 1 步：前进
    LeftMotor.spin(forward, 50, percent);
    RightMotor.spin(forward, 50, percent);
    wait(2, seconds);

    // 第 2 步：停
    LeftMotor.stop();
    RightMotor.stop();
}

C++ (PROS)

// 手动阶段 — 不断循环读遥控器
void opcontrol() {
    pros::Controller master(pros::E_CONTROLLER_MASTER);
    while (true) {
        int speed = master.get_analog(ANALOG_LEFT_Y);
        left_motor.move(speed);
        pros::delay(20);
    }
}

// 自动阶段 — 按顺序执行指令
void autonomous() {
    // 第 1 步：前进
    left_motor.move(64);
    right_motor.move(64);
    pros::delay(2000); // 2000 毫秒 = 2 秒

    // 第 2 步：停
    left_motor.move(0);
    right_motor.move(0);
}

1.4 策略：先做什么？1.4 Strategy: What to Do First?

写自动程序之前，先想清楚策略：Before writing autonomous code, plan your strategy:

观察场地Observe the field：哪些得分物离起点最近？: Which scoring objects are closest to the starting position?
排优先级Prioritize：先拿容易拿的，稳稳得分: Go for easy ones first, score reliably
估时间Estimate time：15 秒不够做很多事，2-3 个动作就差不多了: 15 seconds isn't enough for much -- 2-3 actions is about right
考虑对手Consider opponents：对面的机器人会不会挡路？: Will the opposing robot block your path?

常见错误Common Mistake

新手最容易犯的错：想在 15 秒内做太多事。结果什么都没做完，还不如只做一件事做到位。The most common beginner mistake: trying to do too much in 15 seconds. Ending up finishing nothing is worse than doing one thing well.

检查点：比赛流程Checkpoint: Match Structure

VEX 比赛中，自动阶段持续多长时间？How long does the autonomous period last in a VEX match?