task main()
{
  //Specify the number of degrees for the robot to turn (1 degree = 10, or 900 = 90 degrees)
  int degrees10 = 900;

  //turnValue10 is used to take the current gyro sensor reading into account when turning
  int turnValue10 = 0;

   //Reset encoder and gyro values to 0
  SensorValue[gyroSensor] = 0;
  nMotorEncoder[motorA] = 0;
  nMotorEncoder[motorB] = 0;
  nMotorEncoder[motorF] = 0;
  nMotorEncoder[motorG] = 0;
  nMotorEncoder[motorH] = 0;
  nMotorEncoder[motorI] = 0;

  //Set turnValue10 equal to the current gyro reading plus the desired amount to turn
  turnValue10 = abs(SensorValue[gyroSensor]) + abs(degrees10);

   //Turn until the desired gyro value is reached +/- .5 degrees
  //Reverse the polarity of the motors to turn the other direction
   while(abs(SensorValue[gyroSensor]) < turnValue10 - 5 || abs(SensorValue[gyroSensor]) > turnValue10 + 5)
   {
      motor[motorD] = -20;
      motor[motorE] = 20;
      motor[motorF] = -20;
      motor[motorG] = 20;
   }

   //Stop
   motor[motorD] = 0;
   motor[motorE] = 0;
   motor[motorF] = 0;
   motor[motorG] = 0;
}

void gyroturn(float degrees, int Lmotors, int Rmotors)

{

   int degrees10 = degrees;

   int turnValue10 = 0;

   SensorValue[gyroSensor] = 0;
  nMotorEncoder[motorA] = 0;
  nMotorEncoder[motorB] = 0;
  nMotorEncoder[motorF] = 0;
  nMotorEncoder[motorG] = 0;
  nMotorEncoder[motorH] = 0;
  nMotorEncoder[motorI] = 0;
   
  turnValue10 = abs(SensorValue[gyroSensor]) + abs(degrees10);

   while(abs(SensorValue[gyroSensor]) < turnValue10 - 5 || abs(SensorValue[gyroSensor]) > turnValue10 + 5)
   {
      motor[motorD] = Lmotors;
      motor[motorE] = Rmotors;
      motor[motorF] = Lmotors;
      motor[motorG] = Rmotors;
   }

   motor[motorD] = 0;
   motor[motorE] = 0;
   motor[motorF] = 0;
   motor[motorG] = 0;
}

#include "FTCfunctions.h"


task main()
{

gyroturn(450, 75, -75);




}