task usercontrol() {
while (true) {
motor[port1] = VexRT(Btn7U)*127;
motor[port2] = VexRT(Btn7D)*127;
motor[port3] = VexRT(Btn7L)*127;
motor[port4] = VexRT(Btn7R)*127;
motor[port5] = VexRT(Btn8U)*127;
motor[port6] = VexRT(Btn8D)*127;
motor[port7] = VexRT(Btn8L)*127;
motor[port8] = VexRT(Btn8R)*127;
motor[port9] = VexRT(Btn5U)*127;
motor[port10] = VexRT(Btn6U)*127;
}
}
task main()
{
while(true)
{
if(VexRT(Btn5U)) {
leftTurn(1);
wait10Msec(100);
}
if(VexRT(Btn6U)) {
rightTurn(1);
wait10Msec(100);
}
if(VexRT(Btn8U)) {
move(2);
wait10Msec(100);
}
if(VexRT(Btn8D)) {
move(-2);
wait10Msec(100);
}
if(VexRT(Btn7U)) {
rightTurn(360);
}
if(vexRT(Btn8R)) {
rightTurn(2);
move(20);
leftTurn(10);
move(30);
intake(true);
fly(3);
wait10Msec(1000);
rest();
}
}
}
void reverseFlywheel() {
if(vexRT(Btn7L)) {
if(getFlywheelVelocity()>10) {
stopTask(abi);
motor[flywheel4] = -5;
while(VexRT(Btn7L) && getFlywheelVelocity()>10) { delay(25); }
} else {
motor[flywheel4] = -127;
while(vexRT(Btn7L)) { delay(25); }
while(motor[flywheel4]<0) { motor[flywheel4]+=2; delay(25); }
motor[flywheel4] = 0;
}
}
}
