task usercontrol()
{
// Loop Forever
while (true)
{
if (vexRT[Btn8D] == pressed)
{
untilPotentiometerGreaterThan(3300, LeftPoteniometer);
}
else if (vexRT[Btn8U] == pressed)
{
untilPotentiometerGreaterThan(1768, LeftPoteniometer);
}
else if (vexRT[Btn8R] == pressed)
{
untilPotentiometerGreaterThan(2240, LeftPoteniometer);
}
else if(vexRT[Btn8L] == pressed)
{
untilPotentiometerGreaterThan(2835, LeftPoteniometer);
}
//these are the arms controls (Call of Duty trigger button
if(vexRT[Btn6U] == pressed)
{
raiseArms();
}
else if(vexRT[Btn6D] == pressed)
{
lowerArms();
}
else
{
stopArms();
}
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
if(abs(vexRT[Ch3]) > wheels_deadband)
robot_fwd_rev = vexRT[Ch3];
else
robot_fwd_rev = 0;
//Create "deadzone" for robot_translate/Ch4
if(abs(vexRT[Ch4]) > wheels_deadband)
robot_translate = vexRT[Ch4];
else
robot_translate = 0;
//Create "deadzone" for robot_rotate/Ch1
if(abs(vexRT[Ch1]) > wheels_deadband)
robot_rotate = vexRT[Ch1];
else
robot_rotate = 0;
//Remote Control Commands
motor[LeftSideFront] = robot_fwd_rev + robot_translate + robot_rotate;
motor[LeftSideBack] = robot_fwd_rev - robot_translate + robot_rotate;
motor[RightSideFront] = robot_fwd_rev - robot_translate - robot_rotate;
motor[RightSideBack] = robot_fwd_rev + robot_translate - robot_rotate;
}
}
void Getup::stop()
{
stopHead();
stopArms();
stopLegs();
}
void lowerArmsTimed(int t)
{
lowerArms();
wait1Msec(t);
stopArms();
}
void raiseArmsTimed(int t)
{
raiseArms();
wait1Msec(t);
stopArms();
}
