 | Code: #pragma config(Hubs, S1, HTMotor, HTMotor, HTMotor, HTServo) #pragma config(Sensor, S1, , sensorI2CMuxController) #pragma config(Motor, mtr_S1_C1_1, leftDrive, tmotorTetrix, openLoop) #pragma config(Motor, mtr_S1_C1_2, rightDrive, tmotorTetrix, openLoop, reversed) #pragma config(Motor, mtr_S1_C2_1, lift1, tmotorTetrix, openLoop) #pragma config(Motor, mtr_S1_C2_2, lift2, tmotorTetrix, openLoop, reversed) #pragma config(Motor, mtr_S1_C3_1, cup, tmotorTetrix, openLoop, reversed) #pragma config(Motor, mtr_S1_C3_2, telescope, tmotorTetrix, openLoop) #pragma config(Servo, srvo_S1_C4_1, servo1, tServoNone) #pragma config(Servo, srvo_S1_C4_2, servo2, tServoNone) #pragma config(Servo, srvo_S1_C4_3, servo3, tServoNone) #pragma config(Servo, srvo_S1_C4_4, servo4, tServoNone) #pragma config(Servo, srvo_S1_C4_5, servo5, tServoNone) #pragma config(Servo, srvo_S1_C4_6, servo6, tServoNone) //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c"
void initializeRobot() { // Place code here to sinitialize servos to starting positions. // Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.
return; }
task main() { initializeRobot();
waitForStart(); // wait for start of tele-op phase
while (true) { if(joystick.joy1_y1 > -8 && joystick.joy1_y1 < 8) { motor[leftDrive] = 0; } else { motor[leftDrive] = joystick.joy1_y1; }
if(joystick.joy1_y2 > -8 && joystick.joy1_y2 < 8) { motor[rightDrive] = 0; } else { motor[rightDrive] = joystick.joy1_y2; }
if(joystick.joy2_y1 > -8 && joystick.joy2_y1 < 8) { motor[lift1] = 0; motor[lift2] = 0;} else { motor[lift1] = joystick.joy2_y1/2; motor[lift2] = joystick.joy2_y1/2; }
if(joystick.joy2_x2 > -8 && joystick.joy2_x2 < 8) { motor[cup] = 0; } else { motor[cup] = joystick.joy2_x2/7; }
if(joy1Btn(7) == 1) {motor[telescope] = 30; wait1Msec(200);} if(joy1Btn(8) == 1) {motor[telescope] = -30; wait1Msec(200);}
} }
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