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);
}
}
task main()
{
initializeRobot();
waitForStart(); // Wait for the beginning of autonomous phase.
task main()
{
while(SensorValue(touchSensor) == 1)
{
motor[arm) = 100;
}
while(sensorValue(touchSensor) == 0)
{
motor[arm] = 100;
}
motor[arm] = 0;
}
//motor[arm] = -100;
//wait1Msec(2000);
//motor[arm] = 0;
// while(SensorValue[touch] == 0)
// {
// if(SensorValue[touch] == 0)
// {
// motor[arm] = 100;
// }
// else
// {
// motor[arm] = 0;
// }
//}
//motor[arm] = 0;
//while(SensorValue[touch] == 0)
// {
// if(SensorValue[touch] == 0)
// {
// motor[arm] = -100;
// }
// else
// {
// motor[arm] = 0;
// }
//}
////motor[arm] = 0;
////wait1Msec(500);
//if(SensorValue[touch] == 0)
//{
// motor[arm] = 100;
//}
//motor[arm] = 0;
// while(SensorValue[touch] == 1)//while sensor is pressed the arm goes up
//{
// motor[arm] = 100;
//}
//motor[arm] = 0;//stop the arm (for troubleshooting)
//wait1Msec(500);
//while(SensorValue[touch] == 0)//while the sensor is not pressed the arm goes the rest of the way up
//{
// motor[arm] = 100;
//}
//motor[arm] = 0;//motor stops at the top
while (true)
{}
}