void liftAction(void *param) {
int iterations = 0;
while (!isLiftReady() && (iterations++ < (liftBreakout / 10))) {
setLiftSpeed(pLoopDetermineLiftSpeed());
delay(10);
}
liftDone = true;
}
//Dual mirrored remotes; 5u = up, 6d = down, 7u/7l = left up/up, 7r/7d = right up/down
void lift() {
if ((vexRT[Btn5U] == 1) /*|| (vexRT[Btn5UXmtr2] == 1)*/) {
setLiftSpeed(FULL);
}
else if ((vexRT[Btn5D] == 1) /*|| (vexRT[Btn5DXmtr2] == 1)*/) {
setLiftSpeed(-FULL);
}
else if ((vexRT[Btn7U] == 1) /*|| (vexRT[Btn7UXmtr2] == 1)*/) {
setLiftLSpeed(FULL);
}
else if ((vexRT[Btn7L] == 1) /*|| (vexRT[Btn7LXmtr2] == 1)*/) {
setLiftLSpeed(-FULL);
}
else if ((vexRT[Btn7R] == 1) /*|| (vexRT[Btn7RXmtr2] == 1)*/ ) {
setLiftRSpeed(FULL);
}
else if ((vexRT[Btn7D] == 1) /*|| (vexRT[Btn7DXmtr2] == 1)*/) {
setLiftRSpeed(-FULL);
}
else {
killLift();
}
}
task usercontrol()
{
// User control code here, inside the loop
while (true)
{
bool tankdrive = false; //enable tankdrive???
while (tankdrive==false)
{
int DriveX = -vexRT[Ch4];
int DriveY = vexRT[Ch3];
int liftSpeed = vexRT[Ch2];
if (abs(DriveY) < 5) DriveY = 0; // Deadband
if (abs(DriveX) < 5) DriveX = 0; // Deadband
if (abs(liftSpeed) < 5) liftSpeed = 5; //Deadband and Keep String Taught
driveArcade(DriveY, DriveX);
setLiftSpeed(liftSpeed);
}
while (tankdrive==true) //Tank Drive Option For Debugging DriveTrain
{
motor[leftRear] = motor[leftFront] = vexRT[Ch3];
motor[rightRear] = motor[rightFront] = vexRT[Ch2];
}
// 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.
// .....................................................................................
}
}
