task autonomous() {
// Autonomous
setIntakeSpeed(127); //drop buckie ball
setArmSpeed(100);
wait1Msec(1000);
setArmSpeed(5);
driveArcade(70,0); //drive forward
wait1Msec(1100);
driveArcade(0,0);
setIntakeSpeed(0);
setArmSpeed(20);
wait1Msec(1000);
driveArcade(-70,0); //drive back
wait1Msec(1200);
driveArcade(0,0);
wait1Msec(5000);
driveArcade(70,0); //drive forward
wait1Msec(1300);
driveArcade(0,0);
wait1Msec(1000);
driveArcade(-70,0); //drive back
wait1Msec(1300);
driveArcade(0,0);
}
task usercontrol()
{
float maxRPM = 230;
// Start the flywheel control task
startTask( FwControlTask );
while (true)
{
// Different speeds set by buttons
if( vexRT[ Btn8U ] == 1 )
FwVelocitySet( .9*maxRPM, 0.80 );//Test These Numbers
if( vexRT[ Btn8L ] == 1 )
FwVelocitySet( .8*maxRPM, 0.70 );
if( vexRT[ Btn8R ] == 1 )
FwVelocitySet( .7*maxRPM, 0.60 );
if( vexRT[ Btn8D ] == 1 )
FwVelocitySet( 00, 0 );
int driveX = -vexRT[Ch2];
int driveY = vexRT[Ch1] ;
int intakeForward = vexRT[Btn5U];
int intakeBackwards = vexRT[Btn5D];
driveArcade(driveY * 127 / 128, driveX * 127 / 128);
setIntake(intakeForward*127, intakeBackwards*127);
wait1Msec(10);
}
}
task usercontrol() {
// User control initialization
while (true) { // User control loop
int driveX = scaleInput(vexRT[Ch4]);
int driveY = scaleInput(vexRT[Ch3]);
int armSpeed = vexRT[Ch2];
int intakeSpeed = 127*((vexRT[Btn5U]|vexRT[Btn5D])-(vexRT[Btn6U]|vexRT[Btn6D]));
/* string potenString, gyroString;
s sprintf(potenString, "%3f%c", SensorValue[poten]);
sprintf(gyroString, "%3f%c", SensorValue[gyro]);
displayString(potenString, gyroString);*/
if (SensorValue[poten] > ARMAX) armSpeed = 0; // Limit the Poten from dying.
driveX = turnPID.enabled ? calculate(turnPID, SensorValue[gyro]) : driveX;
armSpeed = armPID.enabled ? calculate(armPID, SensorValue[poten]) : armSpeed;
if (abs(driveY) < 5) driveY = 0; // Deadband
if (abs(driveX) < 5) driveX = 0;
driveArcade(driveY, driveX);
setArmSpeed(armSpeed);
setIntakeSpeed(intakeSpeed);
}
}
task usercontrol()
{
// User control code here, inside the loop
while (true)
{
bool tankdrive = false; //enable tankdrive???
while (tankdrive==false)
{
int DriveX = -vexRT[Ch4];
int DriveY = vexRT[Ch3];
int liftSpeed = vexRT[Ch2];
if (abs(DriveY) < 5) DriveY = 0; // Deadband
if (abs(DriveX) < 5) DriveX = 0; // Deadband
if (abs(liftSpeed) < 5) liftSpeed = 5; //Deadband and Keep String Taught
driveArcade(DriveY, DriveX);
setLiftSpeed(liftSpeed);
}
while (tankdrive==true) //Tank Drive Option For Debugging DriveTrain
{
motor[leftRear] = motor[leftFront] = vexRT[Ch3];
motor[rightRear] = motor[rightFront] = vexRT[Ch2];
}
// This is the main execution loop for the user control program. Each time through the loop
// your program should update motor + servo values based on feedback from the joysticks.
// .....................................................................................
// Insert user code here. This is where you use the joystick values to update your motors, etc.
// .....................................................................................
}
}
task usercontrol()
{
// User control code here, inside the loop
resetDriveVariables();
armState = 0;
// This is the main execution loop for the user control program. Each time through the loop
// your program should update motor + servo values based on feedback from the joysticks.
while (true)
{
driveArcade(vexRT[Ch3],vexRT[Ch4],true,true);//leave both square and ramp as false until the code is proven to work
if (vexRT[Btn6U] != 0){
clawInput = 128;
slowClose = false;
}
else if(vexRT[Btn6D] != 0){
clawInput = -63;
slowClose = false;
}
else if(vexRT[Btn5U] != 0){
clawInput = 40;
slowClose = true;
}
else if(vexRT[Btn5D]){
clawInput = -31;
slowClose = true;
}
else{
clawInput = 0;
slowClose = false;
}
armMove(vexRT[Ch2]);
}
}
task autonomous()
{
driveArcade(100, 100);
wait1Msec(10000);
driveArcade(0,0);
}
task autonomous()
{
bool interaction = (SensorValue[area] == 1); //user input switch to set if interaction zone or not (isolation)
bool red = (SensorValue[color] == 1); //user input switch to set if on red team or not (blue)
if (interaction) //if in interaction
{
if (red) //if on red team
{
time1[T1] = 0;
while(time1[T1] < 1300) //flip out rotors and intake pre-load
spinMove(128);
spinMove(0);
time1[T1] = 0;
while(time1[T1] <1500) // raise arm to high goal level
armMove(100);
time1[T1] = 0;
while (time1[T1] < 3000) //hold up arm to allow for loading
armMove(35);
time1[T1] = 0;
while (time1[T1] < 4500) //Drive forwards to goal, (while holding up arm)
driveArcade(40,0,false,false);
driveArcade(20,0,false,false);
time1[T1] = 0;
while (time1[T1] < 3000) //Release load and score!! (while holding up arm)
spinMove(-80);
armMove(0);
spinMove(0);
driveArcade(0,0,false,false);
time1[T1]=0;//Drive home and lower arm
while (time1[T1]<1650){
if(time1[T1]>500){
armMove(-45);
if(SensorValue[armPot]<=armFloor+40) armMove(0);
}
driveArcade(-100,0,false,false);
}
armMove(0);
driveArcade(0,0,false,false);
time1[T1]=0;//wait to repostition robot for 2 seconds
while(time1[T1]<2000){
}
time1[T1]=0;//Drive to the wall
spinMove(128);//because omnomnomnom
while(time1[T1]<2000){
driveArcade(40,0,false,false);
spinMove(0);
time1[T1]=0;//Drive home
while(time1[T1]<1000){
driveArcade(-99,0,false,false);
}
driveArcade(0,0,false,false);
time1[T1]=0;//wait to repostition robot for 2 seconds
while(time1[T1]<2000){
}
while(SensorValue[armPot]<=armLowScore){
armMove(40)
}
armMove(0);
driveArcade(0,0,false,false);
}
}
else //if on blue team
{
time1[T1] = 0;
while(time1[T1] < 1300) //flip out rotors and intake pre-load
spinMove(128);
spinMove(0);
time1[T1] = 0;
while(time1[T1] <1500) // raise arm to high goal level
armMove(100);
time1[T1] = 0;
while (time1[T1] < 3000) //hold up arm to allow for loading
armMove(35);
time1[T1] = 0;
while (time1[T1] < 4500) //Drive forwards to goal, (while holding up arm)
driveArcade(40,0,false,false);
driveArcade(20,0,false,false);
time1[T1] = 0;
while (time1[T1] < 3000) //Release load and score!! (while holding up arm)
spinMove(-80);
armMove(0);
spinMove(0);
driveArcade(0,0,false,false);
time1[T1]=0;//Drive home and lower arm
while (time1[T1]<1650){
if(time1[T1]>500){
armMove(-45);
if(SensorValue[armPot]<=armFloor+40) armMove(0);
}
driveArcade(-100,0,false,false);
}
armMove(0);
driveArcade(0,0,false,false);
time1[T1]=0;//wait to repostition robot for 2 seconds
while(time1[T1]<2000){
}
time1[T1]=0;//Drive to the wall
spinMove(128);//because omnomnomnom
while(time1[T1]<2000){
driveArcade(40,0,false,false);
spinMove(0);
time1[T1]=0;//Drive home
while(time1[T1]<1000){
driveArcade(-99,0,false,false);
}
driveArcade(0,0,false,false);
time1[T1]=0;//wait to repostition robot for 2 seconds
while(time1[T1]<2000){
}
while(SensorValue[armPot]<=armLowScore){
armMove(40)
}
armMove(0);
driveArcade(0,0,false,false);
}
}
}
task autonomous()
{
{
time1[T1] = 0;
while(time1[T1] < 1300) //flip out rotors and intake pre-load
spinMove(128);
spinMove(0);
time1[T1] = 0;
while(time1[T1] <1500) // raise arm to high goal level
armMove(100);
time1[T1] = 0;
while (time1[T1] < 3000) //hold up arm to allow for loading
armMove(50);
time1[T1] = 0;
while (time1[T1] < 4500) //Drive forwards to goal, (while holding up arm)
driveArcade(40,0,false,false);
driveArcade(20,0,false,false);
time1[T1] = 0;
while (time1[T1] < 3000) //Release load and score!! (while holding up arm)
spinMove(-80); // ^ lolololol
armMove(0);
spinMove(0);
time1[T1]=0;//Drive home and lower arm
while (time1[T1]<1650){
if(time1[T1]>500){
armMove(-45);
if(SensorValue[armPot]<=armFloor+20) armMove(0);
}
driveArcade(-100,0,false,false);
}
armMove(0);
driveArcade(0,0,false,false);
time1[T1]=0;//wait to repostition robot for 4 whole seconds
while(time1[T1]<4000){
}
time1[T1]=0;//Drive like an old Asian lady to the doubler
spinMove(128);//because omnomnomnom
while(time1[T1]<5000){
driveArcade(40,0,false,false);
}
spinMove(0);
time1[T1]=0;//Drive home
while(time1[T1]<2200){
driveArcade(-99,0,false,false);
}
driveArcade(0,0,false,false);
time1[T1]=0;//Wait for only 3 seconds
while(time1[T1]<3000){
}
//Do the same thing as before to put the doubler in the goal
time1[T1] = 0;
while(time1[T1] <1500) // raise arm to high goal level
armMove(100);
armMove(10);
time1[T1] = 0;
while (time1[T1] < 3500) //Drive forwards to goal, (while holding up arm)
driveArcade(40,0,false,false);
time1[T1] = 0;
while (time1[T1] < 3000) //Release load and score!! (while holding up arm)
spinMove(-80);
armMove(0);
spinMove(0);
//make sure it's never the programmer's fault
bool RickIsDumb=true;
bool itsRicksFault=false;
if(RickIsDumb){
itsRicksFault=true;
}
}
if(false) //**************Why is this even here?***********************************************//
{
// time1[T1] = 0;
// while(time1[T1] < 500) //push slightly forwards to fit barell into claw
// {
// driveArcade(32,0,false,false);
// }
// driveArcade(0,0,false,false);
// time1[T1] = 0;
// while(time1[T1] < 250) //reverse to fit barell into claw
// {
// driveArcade(-32,0,false,false);
// }
// driveArcade(0,0,false,false);
// time1[T1] = 0;
// while(time1[T1] < 500) //close claw
// {
// clawPower = 100;
// armMove(0,clawPower);
// }
// while(sensorValue[armPot] < armHighPlace) // raise to high goal level
// {
// armPower = 64;
// armMove(armpower,0);
// }
// time1[T1] = 0;
// while(time1[T1] < 4000) //drive forwards to goal
// {
// driveArcade(32,0,false,false);
// }
// driveArcade(0,0,false,false);
// time1[T1] = 0;
// while(time1[T1] < 650) //open claw to score!
// {
// clawPower = -15;
// armMove(0,clawPower);
// }
// while(sensorValue[clawPot] > clawOpen) //finish opening claw
// {
// clawPower = -100;
// armMove(0,clawPower);
// }
// after first score
// time1[T1] = 0;
// while(time1[T1] < 4000) //drive backwards to red zone
// {
// driveArcade(-40,0,false,false);
// }
// driveArcade(0,0,false,false);
// while(sensorValue[armPot] > armFloor) // lower arm to floor
// {
// armPower = -64;
// armMove(armpower,0);
// }
}
/////////////////////////////////////////////////////////////////////////////////////////
//
// User Control Task
//
// This task is used to control your robot during the user control phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////
}
