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2016CWS7.c
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2016CWS7.c
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#pragma config(Motor, port1, feeder, tmotorVex393TurboSpeed_HBridge, openLoop)
#pragma config(Motor, port2, LUflywheel, tmotorVex393TurboSpeed_MC29, openLoop, reversed)
#pragma config(Motor, port3, LDflywheel, tmotorVex393TurboSpeed_MC29, openLoop, reversed)
#pragma config(Motor, port4, LBdrive, tmotorVex393TurboSpeed_MC29, openLoop, reversed)
#pragma config(Motor, port5, LFdrive, tmotorVex393TurboSpeed_MC29, openLoop, reversed)
#pragma config(Motor, port6, RBdrive, tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor, port7, RFdrive, tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor, port8, RDflywheel, tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor, port9, RUflywheel, tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor, port10, intake1, tmotorVex393TurboSpeed_HBridge, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#pragma platform(VEX)
//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)
#include "Vex_Competition_Includes.c" //Main competition background code...do not modify!
int motorSpeed = 0;
/*
int velocity;
int position1;
int position2;
task flywheelVelocity(){
while(true){
position1 = nMotorEncoder(lrFlywheel);
wait1Msec(200);
position2 = nMotorEncoder(lrFlywheel);
wait1Msec(200);
velocity = (position2 - position1)/4;
}
}*/
void speedUpFlywheel(){
while(motorSpeed < 90){
if(motorSpeed < 90)
motorSpeed += 2;
else
motorSpeed = 90;
motor[LUflywheel] = motorSpeed;
motor[LDflywheel] = motorSpeed;
motor[RUflywheel] = motorSpeed;
motor[RUflywheel] = motorSpeed;
wait1Msec(250);
}
}
void slowDownFlywheel(){
if(motorSpeed > 0)
motorSpeed -= 2;
else
motorSpeed = 0;
motor[LUflywheel] = motorSpeed;
motor[LDflywheel] = motorSpeed;
motor[RUflywheel] = motorSpeed;
motor[RDflywheel] = motorSpeed;
wait1Msec(250);
}
/*task shooter(){
while(true){
if(vexRT(Btn6U)){
while(!vexRT(Btn6D))
speedUpFlywheel();
}
else if(vexRT(Btn6D)){
while(!vexRT(Btn6U))
slowDownFlywheel();
}
}*/
task drive(){
while(true){
motor[LFdrive] = vexRT(Ch3);
motor[LBdrive] = vexRT(Ch3);
motor[RFdrive] = vexRT(Ch2);
motor[RBdrive] = vexRT(Ch2);
wait1Msec(25);
}
}
task intake(){
while(true){
if(vexRT(Btn5U)){
motor[intake1] = 127;
}
else if(vexRT(Btn5D)){
motor[feeder] = 90;
}
else{
motor[intake1] = 0;
motor[feeder] = 0;
}
wait1Msec(25);
}
}
void pre_auton()
{
bStopTasksBetweenModes = true;
}
task autonomous()
{
AutonomousCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
}
task usercontrol()
{
// startTask(shooter);
startTask(drive);
startTask(intake);
speedUpFlywheel();
while(true){
if(vexRT(Btn8U)){
motor[LUflywheel] = 127;
motor[LDflywheel] = 127;
motor[RUflywheel] = 127;
motor[RDflywheel] = 127;
}
else if(vexRT(Btn8D)){
motor[LDflywheel] = 100;
motor[RUflywheel] = 100;
motor[RDflywheel] = 100;
}
else if(vexRT(Btn8L))
slowDownFlywheel();
wait1Msec(25);
}
}