task autonomous()
{
// .....................................................................................
// Insert user code here.
// .....................................................................................
progSkills();
//autonLocation(); // Remove this function call once you have "real" code.
}
task usercontrol()
{
// User control code here, inside the loop
bool arcade = false;
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.
// .....................................................................................
if (vexRT[Btn7U] == 1)
{
progSkills();
}
if (vexRT[Btn8U] == 1)
{
arcade = true;
}
else if (vexRT[Btn8D] == 1)
{
arcade = false;
}
if (arcade == true)
{
motor[leftBack] = cubicMap(vexRT[Ch3] + vexRT[Ch1]);
motor[leftFront] = cubicMap(vexRT[Ch3] + vexRT[Ch1]);
motor[rightBack] = cubicMap(vexRT[Ch3] - vexRT[Ch1]);
motor[rightFront] = cubicMap(vexRT[Ch3] - vexRT[Ch1]);
}
else
{
motor[leftBack] = vexRT[Ch3];
motor[leftFront] = vexRT[Ch3];
motor[rightBack] = vexRT[Ch2];
motor[rightFront] = vexRT[Ch2];
}
if (abs(vexRT[Ch2Xmtr2]) > 10)
{
motor[leftArmBottom] = cubicMap(vexRT[Ch2Xmtr2]);
motor[leftArmTop] = cubicMap(vexRT[Ch2Xmtr2]);
motor[rightArmBottom] = cubicMap(vexRT[Ch2Xmtr2]);
motor[rightArmTop] = cubicMap(vexRT[Ch2Xmtr2]);
}
else if (vexRT[Btn6U] == 1)
{
motor[leftArmBottom] = 127;
motor[leftArmTop] = 127;
motor[rightArmBottom] = 127;
motor[rightArmTop] = 127;
}
else if (vexRT[Btn6D] == 1)
{
motor[leftArmBottom] = -127;
motor[leftArmTop] = -127;
motor[rightArmBottom] = -127;
motor[rightArmTop] = -127;
}
else
{
motor[leftArmBottom] = 0;
motor[leftArmTop] = 0;
motor[rightArmBottom] = 0;
motor[rightArmTop] = 0;
}
if (abs(vexRT[Ch3Xmtr2]) > 10)
{
motor[intakeLeft] = vexRT[Ch3Xmtr2];
motor[intakeRight] = vexRT[Ch3Xmtr2];
}
else if (vexRT[Btn5U] == 1)
{
motor[intakeLeft] = 127;
motor[intakeRight] = 127;
}
else if (vexRT[Btn5D] == 1)
{
motor[intakeLeft] = -127;
motor[intakeRight] = -127;
}
}
}
task usercontrol()
{
progSkills();
}
task autonomous()
{
progSkills();
}
