mobilerobotics/main.c

    		motor[driveRF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
    	}
      if(abs(nMotorEncoder[driveLB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
    		motor[driveLB] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
    		motor[driveLF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
      	motor[driveRB] = -MAX_AUTO_SPEED;
    		motor[driveRF] = -MAX_AUTO_SPEED;
    	} else {
      	motor[driveLB] = -MAX_AUTO_SPEED;
    		motor[driveLF] = -MAX_AUTO_SPEED;
      	motor[driveRB] = -MAX_AUTO_SPEED;
    		motor[driveRF] = -MAX_AUTO_SPEED;
    	}
	}
	stopDriving();
}
// Explicit Parameters: A floating point number numberOfTurns that represents the number of tiles that the
// robot is to drive. Since it is a floating point number, we can move by half or any fraction movement.
// There is also the boolean value direction that controls which way the robot is to move. true is for forward,
// and false is for reverse.
// Output: The robot will drive the specified amount of tiles, in the specified direction. If the robot is not driving
// straight, the speeds of the left and right motors can be offset from each other to cancel out any slight drifts
// to the left or right. We subtract 200 from the distance no matter what here, because the robot moves
// that much after it is told to stop.

task autonomous() {
  turntoRight(0.03);
  shootBall();
  turntoLeft(0.03);
  driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
  driveTiles(1, REVERSE);
  turntoRight(1);
  driveTiles(0.5, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves!
  flipOn(); // Turn on the ball intake in reverse, which is what we can use to flip the caps
  driveTiles(1.6, FORWARD); // flip cap
  ballOff();
  driveTiles(1.35, REVERSE);
  turntoLeft(1);
  driveTiles(1, REVERSE);
  turntoRight(1);
  driveTiles(0.6, REVERSE);
  driveTiles(2, FORWARD); // Flip the other cap without turning on the spinner
  flipOn();                 // So we can pick up the ball that's under it!
  driveTiles(0.5, FORWARD);
  ballIn();
  driveTiles(0.3, REVERSE);
  wait(3);
  driveTiles(0.5, REVERSE);
  turntoLeft(0.75);
  //driveTiles(0.2, REVERSE);
  wait(3);
  ballOff();
  shootBall();	
  turntoRight(0.75);
  driveTiles(1.9, REVERSE);
  turntoLeft(1);
  driveTiles(1, REVERSE);
  turntoRight(1);
  driveTiles(0.25, REVERSE);
  driveTiles(3, FORWARD);
}
/*
This is the autonomous task. Here’s the path of the robot, described in words instead of code:

1. Start at the red tile closest to the flags.

2. Turn a tiny bit to the right to aim, and shoot the top flag with our preload.

3. Re-align ourselves and drive to hit the bottom flag.

4. Back up 1 tile, turn right, and back into the wall to align the robot.

5. Drive forward with the flipper turned on, and flip the cap from blue to red.

6. Back up, turn left, reverse 1 tile, turn right, back into the wall again to align ourselves.

7. Drive forward, push the cap off of the ball, turn of the flipper and flip the cap.

8. Run the motors to lift the ball up to the ball launcher. We wait a few seconds for the ball.

9. Turn to the left, wait a bit more, and shoot the top flag in the middle column of flags.

10. Turn right, back up to the starting tile, then turn left.

11. Reverse for 1 tile to be perpendicular with the platforms.

12. Turn to face the parking platforms, and reverse into the wall to align ourselves again.

13. Climb to the middle parking platform and stop.
*/


task usercontrol() {
  while (true) {
    joystickDrive();
    buttonChecks();
  }
}
// When the driver is in control, this task runs. For the entire duration of the driver control period, we need
// to be able to control the robot, so we put everything in a while loop. The task calls 2 previously mentioned
// functions, joystickDrive() and buttonChecks().