NBN Test Code

#pragma config(Sensor, dgtl1,  touchsense,     sensorTouch)

/*
    This program can can be used for NBT on the robots, it is very versitile
    and I hope we can make use of it

    By John (31/8/15 - 9/1/2015)
*/

    //bool to show if flywheel is activating
    bool flywheelrampCurrentlyActive = false;

    //bool to tell if flywheel is running
    bool FlyWheelRunning = false;

    //constant for motor off
    const int motorOff = 0;

    //bool to tell if stopswitch should be active
    bool stopSwitchState = false;

    //flywheel acceleration ramp func (void)
    void flywheelramp(int maxMotorSpeed = 127, int rampincreasePerLOOP = 1)
        {

            flywheelrampCurrentlyActive = true;

            //temporary storage for motor speed
            int tmpMotorSpeed = 10;

            //if not max speed then set speed to tmpMotorSpeed and add 1
            while(tmpMotorSpeed < maxMotorSpeed)
                {
                        motor[port2] = tmpMotorSpeed;
                        motor[port3] = tmpMotorSpeed;

                        //long version of tmpMotorSpeed ++
                        tmpMotorSpeed = tmpMotorSpeed + rampincreasePerLOOP;

                        //give it a secound and dont hog the CPU
                        wait1Msec(35);
                }
            flywheelrampCurrentlyActive = false;
        }


//example of code in usage situation
task main()
{

    while(true)
    {
        /* AccelFlywheel and maxspeed
        -------------------------------------------------------------------------*/

        //Activation button for flywheel ramp and run
        if((vexRT[Btn7U] == 1) && FlyWheelRunning == false)
            {
                //clear encoders
                nMotorEncoder[port2] = 0;
                nMotorEncoder[port3] = 0;

                //runs flywheel ramp func
                flywheelramp(120,20);

                //set bool to true to show flywheel is running
                FlyWheelRunning = true;

                //tell the main while loop to start including stopSwitch in runs
                stopSwitchState = true;

            }

        /* StopSwitch Section
        -------------------------------------------------------------------------*/

        //if the stopswitch is needed to be used
        if(stopSwitchState == true)
            {
                //if the predesignated stopswitch is pressed
                if(Btn5D == true)
                    {

                            //set motors to the const MotorOff (or 0)
                            motor[port2] = motorOff;
                            motor[port3] = motorOff;

                            //disable fly wheel currently spinning bool
                            FlyWheelRunning = false;

                            //bool to stop stopSwitch and 'disinclude' it in while runs
                            stopSwitchState = false;

                    }
            }
    }
}