task usercontrol() { // User control code here, inside the loop int shoulderTarPos = 0; int elbowTarPos = 0; while (true){ if(vexRT[Btn7U]){ //ArmUp shoulderTarPos = 4000; elbowTarPos = 333; //measure pot for button values } else if(vexRT[Btn7D]) { //ArmDown shoulderTarPos = 2000; elbowTarPos = 100; } else if(vexRT[Btn7L]) { //ArmDrop shoulderTarPos = 4000; elbowTarPos = 0; } else if(vexRT[Btn7R]){ //ArmSet shoulderTarPos = 4000; elbowTarPos = 4000; } driveControl(1); if(false){//!vexRT[Btn6DXmtr2]) { armControl(elbowTarPos, shoulderTarPos); //this requires the potentiometers to be connected } else { manualArmControl(); } } }
task main(){ initializeRobot(); //waitForStart(); //comment whole line when testing and not running FCS while(true){ getJoystickSettings(joystick); //get current joystick state with each update //--- SCISSOR LIFT (Controller #2) if(joy2Btn(L1) || joy2Btn(R1)){ //slow liftControl(20); }else if(joy2Btn(L2) || joy2Btn(R2)){ //fast liftControl(100); }else{ liftControl(80); //default } //--- DRIVE MOTORS (Controller #1) if(joy1Btn(L1) || joy1Btn(R1)){ //slow driveControl(15); }else if(joy1Btn(L2) || joy1Btn(R2)){ //fast driveControl(100); }else{ driveControl(50); //default } //--- ARM CONTROL (Controller #2) armControl(); } }
task main() { initializeRobot(); waitForStart(); // wait for start of tele-op phase arm_fsm = 1; //arm_fsm = 0; while (true) { getJoystickSettings(joystick); //Required for driver control if(joy1Btn(9) && joy1Btn(10)) { arm_fsm = 2; } driveControl(); armControl(); manipulatorControl(); flagControl(); } }