task usercontrol() // main task but for driver mode.
{
while (true)
{
startTask(Pid);
startTask(SpeedControls);
Drive();
Intake();
flyWheelRun();
Pnumatics();
}
}
task usercontrol()
{
while (true)
{
ball();
if (time1[T1]>100)
{
Speed();
resetTimer();
SensorValue[LeftSpeed] = 0;
SensorValue[RightSpeed] = 0;
}
Drive();
Fire();
Pnumatics();
Pid();
Drive2();
Fire2();
Pnumatics2();
Pid2();
}
}
task usercontrol() // main task but for driver mode.
{
while (true)
{
if (time1[T1]>200)
{
Speed();
resetTimer(T1);
SensorValue[LeftSpeed] = 0;
SensorValue[RightSpeed] = 0;
if (time1[T4]>1000)
{
Pid();
}
}
Drive();
Intake();
flyWheelRun();
Pnumatics();
SpeedControls();
SpeedControls2();
}
}
