Code: #pragma config(Motor, port1, leftMotor, tmotorVex393, openLoop, reversed)
#pragma config(Motor, port6, clawMotor, tmotorVex393, openLoop, reversed)
#pragma config(Motor, port7, armMotor, tmotorVex393, openLoop, reversed)
#pragma config(Motor, port10, rightMotor, tmotorVex393, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
/*----------------------------------------------------------------------------------------------------*\
|* - Clawbot Single Joystick Control - *|
|* ROBOTC on VEX 2.0 Cortex *|
|* *|
|* This program uses a single joystick, either right or left to drive the robot. Use notes below *|
|* to reconfigure which joystick is used. The joystick buttons are used to raise and lower the arm. *|
|* The joystick buttons are used to open and close the claw. *|
|* *|
|* ROBOT CONFIGURATION *|
|* NOTES: *|
|* 1) Ch1 is the X axis and Ch2 is the Y axis for the RIGHT joystick. *|
|* 2) Ch3 is the Y axis and Ch4 is the X axis for the LEFT joystick. *|
|* 3) Button 5U and 5L are on the front left side of the joystick. *|
|* 3) Button 6U and 6L are on the front right side of the joystick. *|
|* *|
|* MOTORS & SENSORS: *|
|* [I/O Port] [Name] [Type] [Description] *|
|* Motor - Port 2 rightMotor VEX 393 Motor Right drive motor *|
|* Motor - Port 6 clawMotor VEX 393 Motor w/ Motor Controler 29 Claw motor *|
|* Motor - Port 7 armMotor VEX 393 Motor w/ Motor Controler 29 Arm motor *|
|* Motor - Port 10 leftMotor VEX 393 Motor Left drive motor *|
\*----------------------------------------------------------------------------------------------------*/
//+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++
task main ()
{
int threshold = 10; // helps to eliminate 'noise' from a joystick that isn't perfectly at (0,0)
// feel free to change this to match your needs.
while(1 == 1)
{
if(abs(vexRT[Ch3]) > threshold) // If the left joystick is greater than or less than the threshold:
{
motor[armMotor] = (vexRT[Ch3])/2; // Left Joystick Y value / 2.
}
else // If the left joystick is within the threshold:
{
motor[armMotor] = 0; // Stop the left motor (cancel noise)
}
if(abs(vexRT[Ch4]) > threshold) // If the right joystick is greater than or less than the threshold:
{
motor[clawMotor] = (vexRT[Ch4])/2; // Right Joystick Y value / 2.
}
else // If the right joystick is within the threshold:
{
motor[clawMotor] = 0; // Stop the claw motor (cancel noise)
}
motor[leftMotor] = (vexRT[Ch2] + vexRT[Ch1])/2; // (y + x)/2
motor[rightMotor] = (vexRT[Ch2] - vexRT[Ch1])/2; // (y - x)/2
// Raise, lower or do not move arm
// * old line of code motor[armMotor] = (vexRT[Ch3] + vexRT[Ch3])/2; // (y + x)/2
// Open, close or do not more claw
// * old line of code motor[clawMotor] = (vexRT[Ch4] + vexRT[Ch4])/2; // (y + x)/2
}
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ | 
