long getArmIMEdegrees(unsigned char motorPort) {
long encVal = GetIntegratedMotorEncoder(motorPort);
return encVal * 360/627;
}
/**
* forward a joystick axis to a motor group and restrict by encoding
* @param joystick the joystick number
* @param channel the axis channel
* @param group the initialized motor group
* @param IME the pin of the motor with an IME
* @param min the minimum encoding
* @param max the maximum encoding
**/
void JSToMotorGroupIME(int joystick, int channel, LV_MOTOR_GROUP *group, int IME, long min, long max) {
long enc = GetIntegratedMotorEncoder(IME);
setMotors(group, enc > min && enc < max ? getJSAnalog(joystick, channel) : 0);
}
void DebugArm() {
long l, r;
l = GetIntegratedMotorEncoder(armL);
r = GetIntegratedMotorEncoder(armR);
PrintToScreen("arm encs: %ld, %ld\n", l, r);
}
/**
* forward a joystick axis to a motor and restrict by encoding
* @param joystick the joystick number
* @param channel the axis channel
* @param motor the motor pin
* @param inverse whether to invert the direction (1=Yes, 0=No)
* @param min the minimum encoding value
* @param max the maximum encoding value
**/
void JSToMotorIME(int joystick, int channel, int motor, int inverse, long min, long max) {
long enc = GetIntegratedMotorEncoder(motor);
SetMotor(motor, enc > min && enc < max ? (getJSAnalog(joystick, channel) * (inverse == 1 ? -1 : 1)) : 0);
}
