// called before either autonomous or user control void vexUserInit() { SmartMotorsInit(); SmartMotorCurrentMonitorEnable(); SmartMotorRun(); }
task usercontrol() { // User control code here, inside the loop SmartMotorRun(); while (true) { //Create "deadzone" for Y1/Ch3 if(abs(vexRT[Ch3]) > threshold) Y1 = vexRT[Ch3]; else Y1 = 0; //Create "deadzone" for X1/Ch4 if(abs(vexRT[Ch4]) > threshold) X1 = vexRT[Ch4]; else X1 = 0; //Create "deadzone" for X2/Ch1 if(abs(vexRT[Ch1]) > threshold) X2 = vexRT[Ch1]; else X2 = 0; //Remote Control Commands motor[Rfrontwheel] = Y1 - X2 - X1; motor[Rbackwheel] = Y1 - X2 + X1; motor[Lfrontwheel] = Y1 + X2 + X1; motor[Lbackwheel] = Y1 + X2 - X1; motor[Lmidwheel] = vexRT(Ch3); motor[Rmidwheel] = vexRT(Ch3); motor[Lmidwheel] = -vexRT(Ch4); motor[Rmidwheel] = vexRT(Ch4); //Launcher Code if(vexRT[Btn8DXmtr2] == 1) { Outspeed(90); pressed = true; } else Outspeed(0); //ADVANCED LAUNCHER CODE /*else if(vexRT[Btn8D] == 0 && pressed) { revdown = true; pressed = false; } else Outspeed(0); if(revdown) { if(max != 0) { max--; Outspeed(127); } else if(med != 0) { med--; Outspeed(80); } else if(min != 0) { min--; Outspeed(20); } else { Outspeed(0); revdown = false; max = 50; med = 50; min = 50; } } */ //Intake Code if(vexRT[Btn5UXmtr2] == 1) { Inspeed(127); } else if(vexRT[Btn5DXmtr2] == 1) { Inspeed(-127); } else { Inspeed(0); } } }