#pragma config(Motor,  port1,           claw,          tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           chain,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port3,           scissor1,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port4,           scissor2,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port5,           scissor3,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port6,           scissor4,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           mobilebase,    tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           backleft,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           backright,     tmotorVex393_MC29, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma platform(VEX)
#pragma competitionControl(Competition)
#pragma autonomousDuration(15)
#pragma userControlDuration(120)

#include "Vex_Competition_Includes.c"

void scissor(int speed)
{
	motor[scissor1] = speed;
	motor[scissor2] = speed;
	motor[scissor3] = speed;
	motor[scissor4] = speed;
}

void chainbar(int speed)
{
	motor[chain] = speed;
}

void grab(int speed)
{
	motor[claw] = speed;
}
void base(int speed)
{
	motor[mobilebase] = speed;
}


void move(int speed)
{
	motor[backleft] = speed;
	motor[backright] = speed;
}

void pre_auton()
{
	bStopTasksBetweenModes = true;
}

task autonomous()
{

}

task usercontrol()

{
	// weird controls that should probably be changed
	int X2 = 0, Y1 = 0, X1 = 0, threshold = 15;
	int scissorval = 0;
	int chainbarval = 0;
	int grabval = 0;
	int baseval = 0;
	while(1)
	{
		if(abs(vexRT[Ch3]) > threshold) Y1 = vexRT[Ch3];
		else Y1 = 0;
		if(abs(vexRT[Ch4]) > threshold) X1 = vexRT[Ch4];
		else X1 = 0;
		//		if(abs(vexRT[Ch1]) > threshold) X2 = vexRT[Ch1];
		//		else X2 = 0;

		motor[backright] = Y1 - X2 + X1;
		motor[backleft] = -Y1 - X2 + X1;

		//		if (abs(vexRT[Ch3Xmtr2]) > threshold) scissorval = vexRT[Ch3Xmtr2];
		//		else scissorval = 0;
		//		scissor(scissorval);

		//		if (abs(vexRT[Ch1Xmtr2]) > threshold) grabval = vexRT[Ch1Xmtr2];
		//		else grabval = 0;
		//		grab(grabval);

		// - - - - - - - - scissor stuff - - - - - - - -
		if ((vexRT[Btn5U]) == true) scissorval = 127;
		else scissorval = 0;
		if ((vexRT[Btn5D]) == true) scissorval = -127;
		else scissorval = 0;

		motor[scissor1] = scissorval;
		motor[scissor2] = scissorval;
		motor[scissor3] = scissorval;
		motor[scissor4] = scissorval;
		// - - - - - - - - chainbar stuff  - - - - - - -
		if ((vexRT[Btn6U]) == true) chainbarval = 127;
		else chainbarval = 0;
		if ((vexRT[Btn6D]) == true) chainbarval = -127;
		else chainbarval = 0;

		motor[chain] = chainbarval;

		// - - - - - - - - claw stuff  - - - - - - - - -
		if ((vexRT[Btn7D]) == true) grabval = 127;
		else grabval = 0;
		if ((vexRT[Btn7U]) == true) grabval = -127;
		else grabval = 0;

		motor[claw] = grabval;

		// - - - - - - - - base lifty stuff  - - - - - -
		if ((vexRT[Btn7L]) == true) baseval = 127;
		else baseval = 0;
		if ((vexRT[Btn7R]) == true)	baseval = -127;
		else baseval = 0;

		motor[mobilebase] = baseval;

	}
}