task usercontrol() {
while (true) {
UserControlCodePlaceholderForTesting();
}
}
task usercontrol()
{
// User control code here, inside the loop
while (true)
{
motor[port1] = vexRT[Ch2Xmtr2];
motor[port2] = vexRT[Ch3Xmtr2];
motor[port3] = vexRT[Ch2Xmtr2];
motor[port4] = vexRT[Ch3Xmtr2];
motor[port5] = vexRT[Ch2]; // controller 2 control for ports 5 6 7 and 8
motor[port6] = vexRT[Ch2];
motor[port7] = vexRT[Ch3];
motor[port8] = vexRT[Ch3];
// This is the main execution loop for the user control program. Each time through the loop
// your program should update motor + servo values based on feedback from the joysticks.
// .....................................................................................
// Insert user code here. This is where you use the joystick values to update your motors, etc.
// .....................................................................................
UserControlCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
}
task usercontrol()
{
// User control code here, inside the loop
//targetValue = 10000;
//startTask(driveBase);
//startTask(arm);
//startTask(drive);
while (true)
{
// This is the main execution loop for the user control program. Each time through the loop
// your program should update motor + servo values based on feedback from the joysticks.
// .....................................................................................
// Insert user code here. This is where you use the joystick values to update your motors, etc.
// .....................................................................................
// motor[port1]=motor[port2]=vexRT[Ch1];
// motor[port3]=motor[port4]=vexRT[Ch3];
//targetValue=4000;
//startTask(driveBase);
//rightArmTarget = SensorValue[rightPot];
//leftArmTarget = SensorValue[leftPot];
//rightArmTarget = 25;
//leftArmTarget = 25;
//startTask(armPID);
drive();
UserControlCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
}
task usercontrol()
{
//No user control code needed except the lines of code below this comment
while (true)
{
UserControlCodePlaceholderForTesting();
}
}
task usercontrol()
{
// User control code here, inside the loop
while (true)
{
//iWantPizza
UserControlCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
}
task usercontrol()
{
if (false) UserControlCodePlaceholderForTesting();
initialize();
while (true)
{
processController();
}
}
task usercontrol()
{
// User control code here, inside the loop
while (true)
{
// This is the main execution loop for the user control program. Each time through the loop
// your program should update motor + servo values based on feedback from the joysticks.
// .....................................................................................
// Insert user code here. This is where you use the joystick values to update your motors, etc.
// .....................................................................................
UserControlCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
}
void pre_auton()
{
bStopTasksBetweenModes = true; // Tasks stop when we need them to. Not doing this can be dangerous.
bLCDBacklight = true; // Turn our LCD backlight on
//Reset the motor encoders
clearDriveEncoders();
//Setup song
processSong();
// Never passing if statement. Lets us get rid of compile warnings so we can focus on the ones we need to see.
if (false) {
UserControlCodePlaceholderForTesting();
AutonomousCodePlaceholderForTesting();
sensorsErrorEscape(); // Get rid of unused methods for the sensor lib
// Feel free to add currently un-used methods/tasks here if you're sure they are meant to not be used.
}
}
task usercontrol() {
{
int beltSpeed = 0;
while (true) {
int x = vexRT[Ch1]; // Right Joystick X value
int y = vexRT[Ch3]; // Left Joystick Y value
if (abs(x) < 10) {
x = 0;
}
if (abs(y) < 10) {
y = 0;
}
int speed = y;
int differential = -x;
writeDebugStreamLine("Speed: ", speed);
writeDebugStreamLine("Diff: ", differential);
int right = speed + differential;
int left = speed - differential;
writeDebugStreamLine("R: ", right, "; L: ", left);
if (right > 127) {
right = 127;
}
if (right < -128) {
right = -128;
}
if (left > 127) {
left = 127;
}
if (left < -128) {
left = -128;
}
int frontLeft = left;
int frontRight = right;
int backLeft = left;
int backRight = right;
int mech = vexRT[Ch4]; // Left Joystick X value
if (abs(mech) < 10) {
mech = 0;
}
frontLeft += mech;
frontRight += mech;
backLeft -= mech;
backRight -= mech;
if (frontLeft < -128) {
frontLeft = -128;
}
if (frontRight < -128) {
frontRight = -128;
}
if (backLeft < -128) {
backLeft = -128;
}
if (backRight < -128) {
backRight = -128;
}
if (frontLeft > 127) {
frontLeft = 127;
}
if (frontRight > 127) {
frontRight = 127;
}
if (backLeft > 127) {
backLeft = 127;
}
if (backRight > 127) {
backRight = 127;
}
motor[frontLeftMotor] = frontLeft;
motor[backLeftMotor] = backLeft;
motor[frontRightMotor] = frontRight;
motor[backRightMotor] = backRight;
if (vexRT[Btn5U] == 1) {
beltSpeed = 64;
} else if (vexRT[Btn5D] == 1) {
beltSpeed = 0;
}
motor[beltMotor1] = beltSpeed;
motor[beltMotor2] = beltSpeed;
if (vexRT[Btn8U] == 1) {
shootingMotorSpeed = 127;
startTask(setShooting);
} else {
shootingMotorSpeed = 0;
startTask(setShooting);
}
}
UserControlCodePlaceholderForTesting();
}
}
/////////////////////////////////////////////////////////////////////////////////////////
//
// Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////
void warningKiller() {
UserControlCodePlaceholderForTesting();
AutonomousCodePlaceholderForTesting();
}