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v4
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v4
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#pragma config(Sensor, dgtl1, highButton, sensorDigitalIn)
#pragma config(Sensor, dgtl2, lowButton, sensorDigitalIn)
#pragma config(Motor, port1, claw2, tmotorVex393_HBridge, openLoop)
#pragma config(Motor, port2, rightMotor, tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor, port3, leftMotor, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port4, leftLift1, tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor, port5, leftLift2, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port6, leftLift3, tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor, port7, rightLift1, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port8, rightLift2, tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor, port9, rightLift3, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port10, claw, tmotorVex393_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
// 8 and 9 are the same
void grab(){
motor[claw] = 127;
motor[claw2] = 127;
}
void drop(){
motor[claw] = -127;
motor[claw2]= -127;
}
void forward() {//moves robot forward
motor[leftMotor] = -127;
motor[rightMotor] = -127;
}
void backward(){//moves robot backwards
motor[leftMotor] = 127;
motor[rightMotor] = 127;
}
void left(){//rotates the robot right
motor[leftMotor] = -127;
motor[rightMotor] = 127;
}
void right(){//rotates the robot left
motor[leftMotor] = 127;
motor[rightMotor] = -127;
}
void stopLifters(){ //stops lifters
motor[leftLift1] = 0;
motor[leftLift2] = 0;
motor[leftLift3] = 0;
motor[rightLift1] = 0;
motor[rightLift2] = 0;
motor[rightLift3] = 0;
}
void lift(){ //activates arm
// while(SensorValue(highButton) == 0){
motor[leftLift1] = -127;
motor[leftLift2] = -127;
motor[leftLift3] = -127;
motor[rightLift1] = -127;
motor[rightLift2] = -127;
motor[rightLift3] = -127;
// }
/* motor[leftLift1] = 0;
motor[leftLift2] = 0;
motor[leftLift3] = 0;
motor[rightLift1] = 0;
motor[rightLift2] = 0;
motor[rightLift3] = 0;*/
}
void stopClaw(){
motor[claw2]=0;
motor[claw]=0;
}
void unLift(){ //unlifts
//while(SensorValue(lowButton) == 0){
motor[leftLift1] = 127;
motor[leftLift2] = 127;
motor[leftLift3] = 127;
motor[rightLift1] = 127;
motor[rightLift2] = 127;
motor[rightLift3] = 127;
}
void hang(){ //hangs over the thing
motor[leftLift1] = -80;
motor[leftLift2] = -80;
motor[leftLift3] = -80;
motor[rightLift1] = -80;
motor[rightLift2] = -80;
motor[rightLift3] = -80;
}
void stopMotors(){ //STOPS ALL MOTORS
motor[leftMotor] = 0;
motor[rightMotor] = 0;
}
task main()
{
while(true){
while(vexRT[Btn7U] == 1){
forward();
}
while(vexRT[Btn7L] == 1){
left();
}
while(vexRT[Btn7R] == 1){
right();
}
while(vexRT[Btn7D] == 1){
backward();
}
/* if(vexRT[Btn5D] == 1){
clearTimer(T1);
while(time1[T1]<1000){
lift();
}
stopLifters();
}
if(vexRT[Btn5U] == 1){
clearTimer(T1);
while(time1[T1]<1100){
unLift();
}
stopLifters();
}*/
if(vexRT[Btn8U] == 1){
clearTimer(T1);
while(time1[T1]<100){
unLift();
}
stopLifters();
}
if(vexRT[Btn8D] == 1){
clearTimer(T1);
while(time1[T1]<100){
lift();
}
stopLifters();
}
if(vexRT[Btn8L] == 1){
stopLifters();
}
if(vexRT[Btn6D] == 1){
clearTimer(T3);
while(time1[T3]<10){
drop();
}
stopClaw();
}
if(vexRT[Btn6U] == 1){
clearTimer(T3);
while(time1[T3]<10){
grab();
}
stopClaw();
}
stopMotors();
}
}