gateway-2012/JVBotCompetition.c at master · brobots/gateway-2012 · GitHub

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#pragma config(Motor,  port2,           clawbaseleft,  tmotorNormal, openLoop)
#pragma config(Motor,  port3,           leftwheel,     tmotorNormal, openLoop, reversed)
#pragma config(Motor,  port4,           rightwheel,    tmotorNormal, openLoop)
#pragma config(Motor,  port5,           clawmidleft,   tmotorNormal, openLoop, reversed)
#pragma config(Motor,  port6,           clawmidright,  tmotorNormal, openLoop)
#pragma config(Motor,  port7,           clawwheel,     tmotorNormal, openLoop, reversed)
#pragma config(Motor,  port8,           motorTest,     tmotorNormal, openLoop, reversed)
#pragma config(Motor,  port9,          clawbaseright,  tmotorNormal, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma platform(VEX)
//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)   //Main competition background code...do not modify!
#include "Vex_Competition_Includes.c"


/* BroBots - The Bishop's School 2011-2012 Robotics Team JV Bot */
/* v0.1 */
/*5U clawbaseleft, clawbaseright both 127
5D clawbaseleft, clawbaseright both -127

6U clawmidleft, clawmidright both 127
6D clawmidleft, clawmidright both -127
*/

int threshold = 12.7;
bool RaiseIsActivated = false;

/* Strategy methods */

void AI()
{
	return;
}


/* Control flow */


void startAutonomousFunctions()
{
  // .....................................................................................
  // Insert user code here.
  // .....................................................................................
	AI();
}

task autonomous()
{
	startAutonomousFunctions(); // so we don't have to deal with multitasking weirdness
}

void testManualMode()
{
	while(true)
	{
		motor[clawbaseleft] = 127;
		motor[clawbaseright] = 127;
	}
}

void startManualMode()
{
	// User control code here, inside the loop

	while (true)
	{

	if(vexRT[Btn7D] == 1)
	{
		motor[motorTest] = 127;
	}
	else
	{
		motor[motorTest] = 0;
	}

  //Base Wheels
  //Left Base Wheel
  if (abs(vexRT[Ch3]) > threshold)
  {
    motor[leftwheel] = (vexRT[Ch3]);//Left joystick Y value
  }
  else
  {
    motor[leftwheel] = 0;//Stop the left motor
  }
  //Right Base Wheel
  if (abs(vexRT[Ch2]) > threshold)
  {
    motor[rightwheel] = (vexRT[Ch2]);//Right joystick Y value
  }
  else
  {
    motor[rightwheel] = 0;//Stop the right motor
  }
  if(vexRT[Btn7D] == 1)
  {
    motor[clawwheel] = 127;
  }
  else
  {
  motor[clawwheel] = 0;
  }
	   //Base Wheels
  //Left Base Wheel
  if (vexRT[Btn5U] == 1)
  {
  motor[clawbaseleft] = 127;
  motor[clawbaseright] = 127;
  }
  else
  {
  motor[clawbaseleft] = 0;
  motor[clawbaseright] = 0;
  }

  if (vexRT[Btn5D] == 1)
  {
  motor[clawbaseleft] = -127;
  motor[clawbaseright] = -127;
  }
  else
  {
  motor[clawbaseleft] = 0;
  motor[clawbaseright] = 0;
  }

  if (vexRT[Btn6U] == 1)
  {
   motor[clawmidleft] = 127;
   motor[clawmidright] = 127;
  }
  else
  {
   motor[clawmidleft] = 0;
   motor[clawmidright] = 0;
  }

  if (vexRT[Btn6D] == 1)
  {
   motor[clawmidleft] = -127;
   motor[clawmidright] = -127;
  }
  else
  {
   motor[clawmidleft] = 0;
   motor[clawmidright] = 0;
  }

 }
}
task usercontrol()
{
	startManualMode(); // so we don't have to deal with multitasking weirdness
}

void debugMain()
{
	//startAutonomousFunctions();
	startManualMode();
	//testManualMode();
}

void pre_auton()
{
	// All activities that occur before the competition starts
	// Example: clearing encoders, setting servo positions, ...

	// Nothing here.

}