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| 1 | #pragma config(I2C_Usage, I2C1, i2cSensors) | |
| 2 | #pragma config(Sensor, dgtl1, LiftLock, sensorTouch) | |
| 3 | #pragma config(Sensor, dgtl2, HangPiston, sensorDigitalOut) | |
| 4 | #pragma config(Sensor, dgtl3, Launcher, sensorDigitalOut) | |
| 5 | #pragma config(Sensor, I2C_1, , sensorQuadEncoderOnI2CPort, , AutoAssign) | |
| 6 | #pragma config(Sensor, I2C_2, , sensorQuadEncoderOnI2CPort, , AutoAssign) | |
| 7 | #pragma config(Motor, port1, LBeltMotor, tmotorVex393, openLoop) | |
| 8 | #pragma config(Motor, port2, FLDrivemotor, tmotorVex393HighSpeed, openLoop) | |
| 9 | #pragma config(Motor, port3, FRDriveMotor, tmotorVex393HighSpeed, openLoop) | |
| 10 | #pragma config(Motor, port4, BLDriveMotor, tmotorVex393HighSpeed, openLoop, encoder, encoderPort, I2C_1, 1000) | |
| 11 | #pragma config(Motor, port5, BRDriveMotor, tmotorVex393HighSpeed, openLoop, encoder, encoderPort, I2C_2, 1000) | |
| 12 | #pragma config(Motor, port6, HangMotor1, tmotorVex393, openLoop) | |
| 13 | #pragma config(Motor, port7, HangMotor2, tmotorVex393, openLoop) | |
| 14 | #pragma config(Motor, port8, HangMotor3, tmotorVex393, openLoop) | |
| 15 | #pragma config(Motor, port9, HangMotor4, tmotorVex393, openLoop) | |
| 16 | #pragma config(Motor, port10, RBeltMotor, tmotorVex393, openLoop) | |
| 17 | //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*// | |
| 18 | ||
| 19 | task main() | |
| 20 | {
| |
| 21 | ||
| 22 | ||
| 23 | ||
| 24 | while(true) | |
| 25 | {
| |
| 26 | motor[BLDriveMotor] = motor[FLDrivemotor] = vexRT[Ch3]; | |
| 27 | motor[BRDriveMotor] = motor[FRDriveMotor] = vexRT[Ch2]; | |
| 28 | ||
| 29 | if (vexRT[Btn5U] == 1) | |
| 30 | motor[RBeltMotor] = motor[LBeltMotor] = 100; | |
| 31 | else if (vexRT[Btn6U] == 1) | |
| 32 | motor[RBeltMotor] = motor[LBeltMotor] = -60; | |
| 33 | else | |
| 34 | motor[RBeltMotor] = motor[LBeltMotor] = 0; | |
| 35 | ||
| 36 | ||
| 37 | if (SensorValue[LiftLock] == 1) | |
| 38 | motor[RBeltMotor] = motor[LBeltMotor] = 0; | |
| 39 | else if (vexRT[Btn6U] == 1) | |
| 40 | motor[RBeltMotor] = motor[LBeltMotor] = -60; | |
| 41 | else | |
| 42 | motor[RBeltMotor] = motor[LBeltMotor] = 0; | |
| 43 | ||
| 44 | if (vexRT[Btn7U] == 1) | |
| 45 | motor[HangMotor1] = motor[HangMotor2] = motor[HangMotor3] = motor[HangMotor4]= 127; | |
| 46 | else if (vexRT[Btn8U] == 1) | |
| 47 | motor[HangMotor1] = motor[HangMotor2] = motor[HangMotor3] = motor[HangMotor4] = -127; | |
| 48 | else | |
| 49 | motor[HangMotor1] = motor[HangMotor2] = motor[HangMotor3] = motor[HangMotor4] = 0; | |
| 50 | ||
| 51 | if (vexRT[Btn7L] == 1) | |
| 52 | SensorValue[HangPiston] = 1; | |
| 53 | else if (vexRT[Btn7D] == 1) | |
| 54 | SensorValue[HangPiston] = 0; | |
| 55 | else SensorValue[HangPiston] = 0; | |
| 56 | ||
| 57 | if (vexRT[Btn8R] == 1) | |
| 58 | SensorValue[Launcher] = 1; | |
| 59 | else if (vexRT[Btn8D] == 1) | |
| 60 | SensorValue[Launcher] = 0; | |
| 61 | else SensorValue[Launcher] = 0; | |
| 62 | ||
| 63 | ||
| 64 | - | } |
| 64 | + | } |
| 65 | } |
