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);
}