#pragma config(Sensor, in1,    liftpotL,       sensorPotentiometer)
#pragma config(Sensor, in2,    liftpotR,       sensorPotentiometer)
#pragma config(Sensor, in3,    ,               sensorAnalog)
#pragma config(Sensor, in4,    gyro,           sensorGyro)
#pragma config(Sensor, in5,    colorL,         sensorLineFollower)
#pragma config(Sensor, in6,    ,               sensorAnalog)
#pragma config(Sensor, in7,    colorR,         sensorLineFollower)
#pragma config(Sensor, in8,    mogoPot,        sensorPotentiometer)
#pragma config(Sensor, dgtl1,  LBaseEnc,       sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  vbar,           sensorDigitalOut)
#pragma config(Sensor, dgtl4,  declog,         sensorDigitalOut)
#pragma config(Sensor, dgtl8,  brake,          sensorDigitalOut)
#pragma config(Sensor, dgtl9,  mogoCheck,      sensorDigitalIn)
#pragma config(Sensor, dgtl10, pneumct,        sensorDigitalOut)
#pragma config(Sensor, dgtl11, RBaseEnc,       sensorQuadEncoder)
#pragma config(Motor,  port2,           RFDMD,         tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port3,           RBase,         tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port4,           RBDMD,         tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port5,           lift1,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port6,           lift2,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           LBDMD,         tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port8,           LBase,         tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port9,           LFDMD,         tmotorVex393_MC29, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//


task main()
{

int vbar_pos;


while(true) {
	motor[RBase] = vexRT[ch2];
	motor[LBase] = vexRT[ch3];
	motor[LBDMD] = (-vexRT[Ch3] * (1 - vexRT[Btn8D]) * (1 - vexRT[Btn8U])) + 127 * (vexRT[Btn8U] - vexRT[Btn8D]) + 50 * (vexRT[Btn7R]);
	motor[RBDMD] = (vexRT[Ch2] * (1 - vexRT[Btn8D]) * (1 - vexRT[Btn8U])) - 127 * (vexRT[Btn8U] - vexRT[Btn8D]) - 50 * (vexRT[Btn7R]);
	motor[LFDMD] = (vexRT[Ch3] * (1 - vexRT[Btn8U]) * (1 - vexRT[Btn8D])) - 127 * (vexRT[Btn8D] - vexRT[Btn8U]) + 50 * (vexRT[Btn7R]);
	motor[RFDMD] = (-vexRT[Ch2] * (1 - vexRT[Btn8U]) * (1 - vexRT[Btn8D])) + 127 * (vexRT[Btn8D] - vexRT[Btn8U]) - 50 * (vexRT[Btn7R]);
	motor[lift1] = motor[lift2] = (vexRT[Btn6D] - vexRT[Btn6U]) * -127;

	if (vexRT[Btn8R] == 1) {
		SensorValue[brake] = 1;
}
		else {
			SensorValue[brake] = 0;
		}
	if (vexRT[Btn5U] == 1){
			vbar_pos = 1;
			waitUntil(vexRT[Btn5U] == 0);
		}

		else if (vexRT[Btn5D] == 1){
			vbar_pos = 0;
			waitUntil(vexRT[Btn5D] == 0);
		}

		if (vbar_pos == 1) {
			SensorValue[vbar] = 0;
		}

		else {
			SensorValue[vbar] = 1;
		}

		if (vexRT[Btn7U] == 1){
			SensorValue[declog] = 1;
		}

		else {
			SensorValue[declog] = 0;
		}

}


}