void liftControl() { if (isLiftUp()) { liftUp(); PlaySound(soundUpwardTones); } else if (isLiftDown()) { liftDown(); PlaySound(soundDownwardTones); } else { liftStop(); ClearSounds(); } }
void progSkills() { //while (SensorValue[bumper] == 0) {} SensorValue[rightBackS] = 0; while (abs(SensorValue[rightBackS]) < 70) moveStraight(-90); baseStop(); // Deploy deploy(); moveLiftAuto(1,3100); moveLift(20); SensorValue[rightBackS] = 0; while (abs(SensorValue[rightBackS]) < 40) moveStraight(40); baseStop(); /* moveStraight(127); wait1Msec(200); moveStraight(-127); wait1Msec(200); */ moveStraight(127); wait1Msec(200); intake(-1); moveStraight( -127); wait1Msec(200); baseStop(); //intake(-1); wait1Msec(2000); moveStraight(50); wait1Msec(100); baseStop(); intake(1); moveLift(-30); wait1Msec(500); intake(0); liftStop(); moveStraight(-40); wait1Msec(200); baseStop(); SensorValue[leftBackS] = 0; SensorValue[rightBackS] = 0; while (((abs(SensorValue[leftBackS])+abs(SensorValue[rightBackS]))/2) < 450) { while (SensorValue[rightLiftS] < 4000) { moveLift(-70); turnOnSpot(2,90); } liftStop(); } baseStop(); intake(1); moveStraight(70); wait1Msec(1000); baseStop(); SensorValue[leftBackS] = 0; SensorValue[rightBackS] = 0; while (((abs(SensorValue[leftBackS])+abs(SensorValue[rightBackS]))/2) < 500) { turnOnSpot(2,90); } baseStop(); moveStraight(127); wait1Msec(2000); baseStop(); while(SensorValue[bumper] == 0) {} intake(-1); while(SensorValue[bumper] == 0) {} intake(0); // Raise Lift // Output while(SensorValue[bumper] == 0) {} intake (1); moveStraight(127); wait10Msec(50); turnOnSpot(1,60); wait10Msec(30); turnOnSpot(2,60); wait10Msec(30); baseStop(); SensorValue[leftBackS] = 0; SensorValue[rightBackS] = 0; while (((abs(SensorValue[leftBackS])+abs(SensorValue[rightBackS]))/2) < 500) { turnOnSpot(1,90); } intake(-1); wait10Msec(100); }