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testFWback.c
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#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, in2, gyro, sensorGyro)
#pragma config(Sensor, in8, indexHigh, sensorLineFollower)
#pragma config(Sensor, dgtl1, encoderError, sensorLEDtoVCC)
#pragma config(Sensor, dgtl2, flywheelEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl10, tune, sensorTouch)
#pragma config(Sensor, dgtl11, debug, sensorTouch)
#pragma config(Sensor, dgtl12, encoderTest, sensorTouch)
#pragma config(Sensor, I2C_1, , sensorQuadEncoderOnI2CPort, , AutoAssign )
#pragma config(Sensor, I2C_2, , sensorQuadEncoderOnI2CPort, , AutoAssign )
#pragma config(Motor, port1, rightWheel2, tmotorVex393TurboSpeed_HBridge, openLoop, reversed)
#pragma config(Motor, port2, flywheel4, tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor, port3, rightWheel13, tmotorVex393TurboSpeed_MC29, openLoop, reversed, encoderPort, I2C_1)
#pragma config(Motor, port4, flywheel3, tmotorVex393HighSpeed_MC29, openLoop, reversed)
#pragma config(Motor, port5, leftWheel2, tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor, port6, flywheel1, tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor, port7, flywheel2, tmotorVex393HighSpeed_MC29, openLoop, reversed)
#pragma config(Motor, port8, leftWheel13, tmotorVex393TurboSpeed_MC29, openLoop, encoderPort, I2C_2)
#pragma config(Motor, port9, indexer, tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor, port10, intake, tmotorVex393HighSpeed_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#pragma platform(VEX)
//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(0)
#pragma userControlDuration(60)
#pragma systemFile
#include "Vex_Competition_Includes.c" //Main competition background code...do not modify!
/*///////////////////////////////////////////////////////////
/////____________/\\\\\____/\\\\\\\\\_____ /////
///// ________/\\\\////___/\\\///////\\\___ /////
///// _____/\\\///_______\///______\//\\\__ /////
///// ___/\\\\\\\\\\\______________/\\\/___ /////
///// __/\\\\///////\\\_________/\\\//_____ /////
///// _\/\\\______\//\\\_____/\\\//________ /////
///// _\//\\\______/\\\____/\\\/___________ /////
///// __\///\\\\\\\\\/____/\\\\\\\\\\\\\\\_ /////
///// ____\/////////_____\///////////////__ /////
///// Mark III Robot /////
///// Skills Code /////
///// Authors: Jonathan Damico, Griffin Tabor /////
///// Since: Jan. 22, 2016 /////
*////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////
/// JUMPER CABLE CONFIGURATIONS ///
/// dgtl10 = tune mode (acts like you're holding down 5U and 6U) ///
/// dgtl11 = debug mode (logs flywheel info to debug stream) ///
/// dgtl12 = encoder test mode (checks encoder works at runtime) ///
/////////////////////////////////////////////////////////////////////
void pre_auton(){
}
task autonomous () {
}
task usercontrol() {
while (true) {
if(vexRT(Btn7U)){
motor(flywheel1) = -127;
motor(flywheel2) = -127;
motor(flywheel3) = -127;
motor(flywheel4) = -127;
}
else if(vexRT(Btn7D)){
motor(flywheel1) = 100;
motor(flywheel2) = 100;
motor(flywheel3) = 100;
motor(flywheel4) = 100;
}
else{
motor(flywheel1) = 0;
motor(flywheel2) = 0;
motor(flywheel3) = 0;
motor(flywheel4) = 0;
}
}
}