#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, dgtl1,  LiftLock,       sensorTouch)
#pragma config(Sensor, dgtl2,  HangPiston,     sensorDigitalOut)
#pragma config(Sensor, dgtl3,  Launcher,       sensorDigitalOut)
#pragma config(Sensor, I2C_1,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign)
#pragma config(Sensor, I2C_2,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign)
#pragma config(Motor,  port1,           LBeltMotor,    tmotorVex393, openLoop)
#pragma config(Motor,  port2,           FLDrivemotor,  tmotorVex393HighSpeed, openLoop)
#pragma config(Motor,  port3,           FRDriveMotor,  tmotorVex393HighSpeed, openLoop)
#pragma config(Motor,  port4,           BLDriveMotor,  tmotorVex393HighSpeed, openLoop, encoder, encoderPort, I2C_1, 1000)
#pragma config(Motor,  port5,           BRDriveMotor,  tmotorVex393HighSpeed, openLoop, encoder, encoderPort, I2C_2, 1000)
#pragma config(Motor,  port6,           HangMotor1,    tmotorVex393, openLoop)
#pragma config(Motor,  port7,           HangMotor2,    tmotorVex393, openLoop)
#pragma config(Motor,  port8,           HangMotor3,    tmotorVex393, openLoop)
#pragma config(Motor,  port9,           HangMotor4,    tmotorVex393, openLoop)
#pragma config(Motor,  port10,          RBeltMotor,    tmotorVex393, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{



	while(true)
	{
			motor[BLDriveMotor] = motor[FLDrivemotor] = vexRT[Ch3];
			motor[BRDriveMotor] = motor[FRDriveMotor] = vexRT[Ch2];

    if (vexRT[Btn5U] == 1)
      motor[RBeltMotor] = motor[LBeltMotor] = 100;
    else if (vexRT[Btn6U] == 1)
      motor[RBeltMotor] = motor[LBeltMotor] = -60;
    else
      motor[RBeltMotor] = motor[LBeltMotor] = 0;


      if (SensorValue[LiftLock] == 1)
      motor[RBeltMotor] = motor[LBeltMotor] = 0;
    else if (vexRT[Btn6U] == 1)
      motor[RBeltMotor] = motor[LBeltMotor] = -60;
    else
      motor[RBeltMotor] = motor[LBeltMotor] = 0;

    if (vexRT[Btn7U] == 1)
      motor[HangMotor1] = motor[HangMotor2] = motor[HangMotor3] = motor[HangMotor4]= 127;
    else if (vexRT[Btn8U] == 1)
      motor[HangMotor1] = motor[HangMotor2] = motor[HangMotor3] = motor[HangMotor4] = -127;
    else
      motor[HangMotor1] = motor[HangMotor2] = motor[HangMotor3] = motor[HangMotor4] = 0;

  			if (vexRT[Btn7L] == 1)
  			SensorValue[HangPiston] = 1;
  		else if (vexRT[Btn7D] == 1)
  			SensorValue[HangPiston] = 0;
  		else SensorValue[HangPiston] = 0;

  			if (vexRT[Btn8R] == 1)
  			SensorValue[Launcher] = 1;
  		else if (vexRT[Btn8D] == 1)
  			SensorValue[Launcher] = 0;
  		else SensorValue[Launcher] = 0;


  }
}