// 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);
}
}
}
