#pragma config(Sensor, in1, lineFollower, sensorLineFollower)

#pragma config(Sensor, in2, redBlueSwitch, sensorPotentiometer)

#pragma config(Sensor, dgtl1, bump, sensorTouch)

#pragma config(Sensor, dgtl2, , sensorQuadEncoder)

#pragma config(Motor, port1, backLeft, tmotorVex393_HBridge, openLoop, reversed, encoderPort, None)

#pragma config(Motor, port2, right, tmotorVex393_MC29, openLoop, reversed)

#pragma config(Motor, port3, frontLeft, tmotorVex393_MC29, openLoop, encoderPort, dgtl2)

#pragma config(Motor, port4, hook, tmotorVex393_MC29, openLoop)

#pragma config(Motor, port5, arm1, tmotorVex393_MC29, openLoop)

#pragma config(Motor, port6, arm2, tmotorVex393_MC29, openLoop)

#pragma config(Motor, port7, extender, tmotorVex393_MC29, openLoop)

#pragma config(Motor, port8, wench, tmotorVex393_MC29, openLoop, reversed)

#pragma config(Motor, port9, liftJack1, tmotorVex393_MC29, openLoop)

#pragma config(Motor, port10, liftJack2, tmotorVex393_HBridge, openLoop)

//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

#pragma platform(VEX)

//Competition Control and Duration Settings

#pragma competitionControl(Competition)

#pragma autonomousDuration(60)

#pragma userControlDuration(60)

#include "LittleBotFunctionsEncoder.h"

#include "Vex_Competition_Includes.c" //Main competition background code...do not modify!

/////////////////////////////////////////////////////////////////////////////////////////

//

// Pre-Autonomous Functions

//

// You may want to perform some actions before the competition starts. Do them in the

// following function.

//

/////////////////////////////////////////////////////////////////////////////////////////

int SWITCH = 2000;

bool red = false;

void pre_auton()

{

// Set bStopTasksBetweenModes to false if you want to keep user created tasks running between

// Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false

bStopTasksBetweenModes = true;

}

/////////////////////////////////////////////////////////////////////////////////////////

//

// Autonomous Task

//

// This task is used to control your robot during the autonomous phase of a VEX Competition.

// You must modify the code to add your own robot specific commands here.

//

/////////////////////////////////////////////////////////////////////////////////////////

task autonomous()

{

if(sensorValue(redBlueSwitch) < SWITCH){

red = true;

}

else{

red = false;

}

if(red){

motor[hook] = -127;

wait10Msec(60);

motor[hook] = 64;

wait10Msec(200);

motor[hook] = 0;

turnCW(159, 127);

wait10Msec(1);

move(1.3,127);

wait10Msec(1);

turnCCW(161, 127);

wait10Msec(1);

move(1.1,127);

wait10Msec(1);

move(.7,-127);

wait10Msec(1);

turnCW(125,127);

wait10Msec(1);

move(1.1,127);

wait10Msec(1);

turnCCW(125,127);

wait10Msec(1);

move(1.4,127);

wait10Msec(1);

move(.7,-127);

wait10Msec(1);

turnCCW(45,127);

wait10Msec(1);

move(1.5,127);

wait10Msec(1);

}

else{

motor[hook] = -127;

wait10Msec(60);

motor[hook] = 64;

wait10Msec(200);

motor[hook] = 0;

turnCCW(159, 127);

wait10Msec(1);

move(1.3,127);

wait10Msec(1);

turnCW(161, 127);

wait10Msec(1);

move(1.1,127);

wait10Msec(1);

move(.7,-127);

wait10Msec(1);

turnCCW(125,127);

wait10Msec(1);

move(1.1,127);

wait10Msec(1);

turnCW(125,127);

wait10Msec(1);

move(1.4,127);

wait10Msec(1);

move(.7,-127);

wait10Msec(1);

turnCW(45,127);

wait10Msec(1);

move(1.5,127);

wait10Msec(1);

}

}

/////////////////////////////////////////////////////////////////////////////////////////

//

// User Control Task

//

// This task is used to control your robot during the user control phase of a VEX Competition.

// You must modify the code to add your own robot specific commands here.

//

/////////////////////////////////////////////////////////////////////////////////////////

task usercontrol(){

int threshold = 10;

int AMOUNT = 1;

while(true){

if(abs(vexRT[Ch2]) > threshold){

setRight(vexRT[Ch2]/AMOUNT);

}

else{

setRight(0);

}

if(abs(vexRT[Ch3]) > threshold){

setLeft(vexRT[Ch3]/AMOUNT);

}

else{

setLeft(0);

}

if(vexRT[Btn7L] == 1){

setArm(127);

while(vexRT[Btn7L] == 1);

setArm(0);

}

else if(vexRT[Btn7D] == 1){

setArm(-127);

while(vexRT[Btn7D] == 1);

setArm(0);

}

if(vexRT[Btn7U] == 1){

setArm(127);

motor[wench] = 127;

while(vexRT[Btn7U] == 1);

setArm(0);

motor[wench] = 0;

}

else if(vexRT[Btn7R] == 1){

motor[wench] = 127;

while(vexRT[Btn7R] == 1);

motor[wench] = 0;

}

if(vexRT[Btn8D] == 1){

motor[extender] = 127;

while(vexRT[Btn8D] == 1);

motor[extender] = 0;

}

else if(vexRT[Btn8R] == 1){

motor[extender] = -127;

while(vexRT[Btn8R]==1);

motor[extender] = 0;

}

if(vexRT[Btn6D] == 1){

motor[hook] = 64;

while(vexRT[Btn6D]==1);

motor[hook] = 0;

}

else if(vexRT[Btn6U] == 1){

motor[hook] = -64;

while(vexRT[Btn6U]==1);

motor[hook] = 0;

}

if(vexRT[Btn5D] == 1){

liftJack(127);

while(vexRT[Btn5D]==1);

liftJack(0);

}

else if(vexRT[Btn5U] == 1){

liftJack(-127);

while(vexRT[Btn5U]==1);

liftJack(0);

}

}

}