void main_wheel( int joy1_x1, int joy1_y1 )
{
int k=8;
int drivePower = DEADBAND(joy1_x1/k);
int turnPower = DEADBAND(joy1_y1/k);
motor[motorA] = BOUND(drivePower - turnPower);
motor[motorB] = BOUND(drivePower + turnPower);
}
void main_wheel( int joy1_x1, int joy1_y1 )
{
int drivePower = DEADBAND(joy1_x1);
int turnPower = DEADBAND(joy1_y1);
motor[LeftBase] = BOUND(drivePower - turnPower);
motor[RightBase] = BOUND(drivePower + turnPower);
}
task main() {
while (true) {
wait1Msec(LOOP_INTERVAL);
getJoystickSettings(joystick);
holoMove(remapJoystickInput(DEADBAND(joystick.joy1_x1)), remapJoystickInput(DEADBAND(joystick.joy1_y1)), remapJoystickInput(DEADBAND(joystick.joy1_x2)));
//holoRotate(remapJoystickInput(DEADBAND(joystick.joy1_x2)));
// Test Code to test if Joystick Controller input is working
if (joy1Btn(4)) {
writeDebugStreamLine("JOY4BUTTON");
//MissionImpossible();
}
}
}
void arm_motors( int joy2_y1 )
{
int k=8;
int rotatePower = DEADBAND(joy2_y1/k);
motor[motorD] = -BOUND(rotatePower);
}
void central_motor( int joy1_y2 )
{
int k=8;
int rotatePower = DEADBAND(joy1_y2/k);
motor[motorC] = BOUND(rotatePower);
}
void arm_motors( int joy1_y2 )
{
int k=10; //bigger = slower
int rotatePower = DEADBAND(joy1_y2);
motor[motorD] = -BOUND(rotatePower/k);
}
void central_motor( int joy1_x2 )
{
int k=15; //higher = slower
int rotatePower = DEADBAND(joy1_x2);
motor[motorC] = BOUND(rotatePower/k);
}
// This method moves each wheel independently, taking input from the respective joysticks
void tank_drive(){
motor[leftMotor] = DEADBAND(vexRT[JOY_AXIS_LEFT]) * SLOW * REVERSE;
motor[rightMotor] = DEADBAND(vexRT[JOY_AXIS_RIGHT]) * SLOW * REVERSE;
}
void sync_arcade(){
motor[leftMotor] = (DEADBAND(vexRT[JOY_AXIS_LEFT]) + DEADBAND(vexRT[JOY_AXIS_TURN])) * SLOW * REVERSE;
motor[rightMotor] = (DEADBAND(vexRT[JOY_AXIS_LEFT]) - DEADBAND(vexRT[JOY_AXIS_TURN])) * SLOW * REVERSE;
}
/*
* moveMotors
*
* Both the left and right motors are set to equal their respective joystick's
* positions, times the constant move speed.
*/
void moveMotors(){
motor[leftMotor] = (DEADBAND(vexRT[JOY_BTN_LEFT]) * BTN_JOYSTICK_MOVE_SPEED);
motor[rightMotor] = (DEADBAND(vexRT[JOY_BTN_RIGHT]) * BTN_JOYSTICK_MOVE_SPEED);
}
