void setIntake() // reads the Joystick, determines the state of the intake and sends values to motors - used in driver control
{
if(vexRT[Btn6U] == 1) // if button 6 Up is pressed...
{intakeIn();} // ...intake balls.
else if(vexRT[Btn6D] == 1) // if button 6 Down is pressed...
{intakeOut();} // ...outtake balls (possibly at reduced speed).
else // if neither button is pressed...
{intakeStop();} // ...stop the motors.
}
task main()
{
init();
wait1Msec(1000);
sticksDown();
raiseLift(100);
time1[T1]=0;
while (nMotorEncoder[intake] < 430 && time1[T1] < 2500) //while the encoder wheel turns one revolution
{
times = time1[T1];
}
allStop();
wait1Msec(500);
//if(time1[T1]>2500)
// while(true){
// nxtDisplayCenteredBigTextLine(1,":(");
// }
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(20);
while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseAutoBall();
intakeIn(100);
wait1Msec(600);
allStop();
wait1Msec(500);
sticksUp();
wait1Msec(3000);
while(SensorValue[sonarSensor]>25){allStop();}
wait1Msec(2000);
sticksDown();
allStop();
wait1Msec(500);
raiseLift(100);
while (nMotorEncoder[intake] < 1000) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(20);
while (nMotorEncoder[intake] > 740) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
}
