task buttons(){
if(strafe){
if(vexRT[Btn8L] == 1){
driveEnable = false;
setDrive(strafeSpeed*-1);
}
else if(vexRT[Btn8R] == 1){
driveEnable = false;
setDrive(strafeSpeed);
}
else if(vexRT[Btn8U] == 1){
driveEnable = false;
runExpansion();
}
else driveEnable = true;
}
if(vexRT[Btn7D] == 1) strafe = true;
if(vexRT[Btn8D] == 1) strafe = false;
if(vexRT[Btn5U] == 1) armState = 1;
else if(vexRT[Btn5D] == 1) armState = 2;
else armState = 0;
if(vexRT[Btn6U] == 1) setIntake(intakeSpeed);
else if(vexRT[Btn6D] == 1) setIntake(intakeSpeed*-1);
else setIntake(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 code here, inside the loop
while (true)
{
//All the floats
float xL = vexRT[Ch4];
float yL = vexRT[Ch3];
float xR = vexRT[Ch1];
float yR = vexRT[Ch2];
int deadBand = 5;
int intakeForward = vexRT[Btn6U];
int intakeBackwards = vexRT[Btn6D];
setIntake(intakeForward*75, intakeBackwards*75);
//Drive Code
motor[frontLeft] = xR + yR;
motor[backRight] = xR - yR;
motor[backLeft] = xL + yL;
motor[frontRight] = xL - yL ;
//Deadband
if(xL > deadBand || xL < -deadBand)
{
xL = xL;
}
else
{
xL = 0;
}
if(yL > deadBand || yL < -deadBand)
{
yL = yL;
}
else
{yL = 0;
}
if(xR > deadBand || xR < -deadBand)
{
xR = xR;
}
else
{xR = 0;
}
if(yR > deadBand || yR < -deadBand)
{
yR = yR;
}
else
{
yR = 0;
}
}
}
/* Autonomous */
task autonomous(){
bool blueSide = true;
initMotor(&motorLeftShooter, leftShooter1, leftShooter2, leftShooterSensor);
initMotor(&motorRightShooter, rightShooter1, rightShooter2, rightShooterSensor);
clearAll(actOnSensors);
startTask(autonShooterControl);
if(blueSide)
{
autonTargetSpeed = 75;
wait1Msec(1200);
for(int i = 0; i < 5; i++)
{
wait1Msec(2000);
setIntake(120);
wait1Msec(500);
setIntake(0);
}
}
while(true){}
}
task usercontrol()
{
// User control code here, inside the loop
while (true)
{
// 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.
// .....................................................................................
int intakeForward = vexRT[Btn5U];
int intakeBackwards = vexRT[Btn5D];
float setPoint = 98;
int window = 25;
int x = vexRT[Ch3];
if(abs(x) < window)
x = 0;
int y = vexRT[Ch4];
if(abs(y) < window)
y = 0;
int r = vexRT[Ch1];
int shooting = 1;
int motorShoot = 0;
if(abs(r) < window)
r = 0;
drive(x, y, r);
setIntake(intakeForward*127, intakeBackwards*127);
float scaleFactor = 1.0;
if (vexRT[Btn7U] == 1){
setPoint = 98;
scaleFactor = .90;
} else if (vexRT[Btn7L] == 1){
setPoint = 91;
scaleFactor = .85;
} else if (vexRT[Btn7R] == 1){
setPoint = 83;
scaleFactor = .80;
} else if (vexRT[Btn7D] == 1){
setPoint = 78;
scaleFactor = 0.75;
} else if (vexRT[Btn8U] == 1){
setPoint = 73;
scaleFactor = 0.70;
} else if (vexRT[Btn8L] == 1){
setPoint = 68;
scaleFactor = 0.65;
} else if (vexRT[Btn8R] == 1){
setPoint = 61;
scaleFactor = 0.60;
} else if (vexRT[Btn8D] == 1){
setPoint = 54;
scaleFactor = 0.55;
} else {
shooting = 0;
}
float diffRPM = setPoint - getMotorVelocity(rightShoot1);
//////////////////////////////////////////////////////////
/*
if (shooting && getMotorVelocity(rightShoot1) < setPoint )
{
motorShoot = 100 * scaleFactor;
}
else if (shooting == 1 && getMotorVelocity(rightShoot1) > setPoint )
{
motorShoot = 40 * scaleFactor;
}
else if (shooting == 1 && getMotorVelocity(rightShoot1) == setPoint)
{
motorShoot = 80 * scaleFactor;
}
*/
if (shooting == 1) {
motorShoot = scaleFactor*127.0;
}
else if(shooting == 0)
{
motorShoot = 0;
}
motor[leftShoot1] = motor[leftShoot2] = motor[rightShoot1] = motor[rightShoot2] = motorShoot;
// 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()
{
slaveMotor(shooterLB, shooterL);
slaveMotor(shooterRB, shooterR);
while(true)
{
//Warning Killer
if (0 == 1)
{
warningKiller();
rotateL(0);
rotateR(0);
}
//All the ints
int intakeForward = vexRT[Btn6U];
int intakeBackwards = vexRT[Btn5U];
int deadBand = 10;
//All the floats
float xL = vexRT[Ch4];
float yL = vexRT[Ch3];
float xR = vexRT[Ch1];
float yR = vexRT[Ch2];
//Intake & Shooter
if (vexRT[Btn7U])
{
motor[shooterL] = 100;//These numbers are abritrary. i.e. 100 = fast, 10 = slow, 0 = no power
motor[shooterR] = 100;
}
else
{
motor[shooterL] = 0;
motor[shooterR] = 0;
}
setIntake(intakeForward*75, intakeBackwards*75);
//Drive Code
motor[leftFront] = xR + yR;
motor[rightRear] = xR - yR;
motor[leftRear] = xL + yL;
motor[rightFront] = xL - yL ;
//Deadband
if(xL > deadBand || xL < -deadBand)
{
xL = xL;
}
else
{
xL = 0;
}
if(yL > deadBand || yL < -deadBand)
{
yL = yL;
}
else
{
yL = 0;
}
if(xR > deadBand || xR < -deadBand)
{
xR = xR;
}
else
{
xR = 0;
}
if(yR > deadBand || yR < -deadBand)
{
yR = yR;
}
else
{
yR = 0;
}
}
}
