#pragma config(Sensor, dgtl1,  rightQuad,      sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  leftQuad,       sensorQuadEncoder)
#pragma config(Motor,  port1,           intake1,       tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           rightFrontDrive, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port3,           leftFrontDrive, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port4,           rightBackDrive, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port5,           leftBackDrive, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port6,           winch1,        tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           winch2,        tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           winch3,        tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           winch4,        tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          intake2,       tmotorVex393_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!


// Courtesy of Jacob from team 2158S ausTIN CANs - Overclocked.

//For Jacob of 69.

/////////////////////////////////////////////////////////////////////////////////////////
//
//                          Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////

void pre_auton()
{
  // Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
  // Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
  bStopTasksBetweenModes = true;

	// All activities that occur before the competition starts
	// Example: clearing encoders, setting servo positions, ...
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 Autonomous Task
//
// This task is used to control your robot during the autonomous phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////

task autonomous()
{

	//For auto you just need to figure out how many encoder ticks are in one rotation of your wheel.

//example



  // .....................................................................................
  // Insert user code here.
  // .....................................................................................

	AutonomousCodePlaceholderForTesting();  // Remove this function call once you have "real" code.
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 User Control Task
//
// This task is used to control your robot during the user control phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////

task usercontrol()
{
	// User control code here, inside the loop

	while (true)
	{
	  // This is the main execution loop for the user control program. Each time through the loop
	  // your program should update motor + servo values based on feedback from the joysticks.

	  // .....................................................................................
	  // Insert user code here. This is where you use the joystick values to update your motors, etc.
	  // .....................................................................................

		motor[rightFrontDrive] = vexRT [Ch2];
    motor[leftFrontDrive] = vexRT [Ch3];
    motor[rightBackDrive] = vexRT [Ch2];
    motor[leftBackDrive] = vexRT [Ch2];
	  UserControlCodePlaceholderForTesting(); // Remove this function call once you have "real" code.
	}
}