Add 'main.c'

main.c

@@ -0,0 +1,101 @@
+ #pragma config(I2C_Usage, I2C1, i2cSensors)
+#pragma config(Sensor, I2C_1,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
+#pragma config(Sensor, I2C_2,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
+#pragma config(Motor,  port1,            ,             tmotorVex393_HBridge, openLoop)
+#pragma config(Motor,  port2,           shoot,         tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port3,           driveLB,       tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_1)
+#pragma config(Motor,  port4,           driveLF,       tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port5,           driveRB,       tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_2)
+#pragma config(Motor,  port6,           driveRF,       tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port7,           bintake,       tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port8,            ,             tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port9,            ,             tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port10,           ,             tmotorVex393_HBridge, openLoop)
+//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
+
+#pragma platform(VEX2)
+#pragma competitionControl(Competition)
+#include "Vex_Competition_Includes.c"
+
+// some variable definitions
+#define MAX_SPEED 127
+#define STOP 0
+#define DEADZONE 10
+
+/* 
+  23.4 / (2 * pi * 2.075) * 360
+  23.4 = inches in a tile
+  2.075 = exact radius of 4" omniwheels
+  2 * pi * r is circumference of the wheel
+  360 degrees in a circle
+  final calculation is the amount of degrees of rotation per tile of movement
+*/
+#define TILE 646
+
+void shootBall() {
+  motor[shoot] = MAX_SPEED;
+	wait(1.25); // Shooting takes 1.25 seconds.
+	motor[shoot] = STOP;
+}
+
+void joystickDrive() {
+  if(abs(vexRT[Ch3]) > DEADZONE) {
+    motor[driveLB] = vexRT[Ch3];
+    motor[driveLF] = vexRT[Ch3];
+  }
+  else {
+  	motor[driveLB] = STOP;
+    motor[driveLF] = STOP;
+	}
+  if(abs(vexRT[Ch2]) > DEADZONE) {
+    motor[driveRB] = vexRT[Ch2];
+    motor[driveRF] = vexRT[Ch2];
+  } 
+  else {
+  	motor[driveRB] = STOP;
+    motor[driveRF] = STOP;
+	}
+}
+
+void buttonChecks() {
+  if (vexRT[Btn5U] == 1) {
+    motor[bintake] = MAX_SPEED;
+  }
+  else if (vexRT[Btn5D] == 1) {
+  	motor[bintake] = -MAX_SPEED;
+  }
+  else {
+    motor[bintake] = STOP;
+  }
+  //Flipper Code
+  if (vexRT[Btn8D] == 1) {
+  	shootBall();
+  }
+}
+
+
+
+void pre_auton() {
+  /* Set bStopTasksBetweenModes to false if you want to keep user created tasks
+  running between Autonomous and Driver controlled modes. You will need to
+  manage all user created tasks if set to false. */
+  bStopTasksBetweenModes = true;
+}
+
+void driveTiles(int numberOfTiles) {
+	while(numberOfTiles * TILE > nMotorEncoder[1]) [
+		// TODO
+	}
+}
+task autonomous() {
+	shootBall();
+	
+}
+
+task usercontrol() {
+  while (true) {
+  	//Dual Driving
+    joystickDrive();
+    buttonChecks();
+  }
+}