1900A X-Drive Test.c

#pragma config(Motor,  port1,            ,             tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor,  port2,            ,             tmotorVex393TurboSpeed_MC29, openLoop, reversed)
#pragma config(Motor,  port5,            ,             tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port6,            ,             tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port7,            ,             tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port9,            ,             tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor,  port10,           ,             tmotorVex393TurboSpeed_MC29, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*------------------------------------------------------

Motor Pin Diagram:
2. LI - left intake motor
3. RI - right intake motor
4. FL - front left motor
5. FR - front right motor
6. BR - back right motor
7. BL - back left motor
8. LFB - left four-bar motor
9. RFB - right four-bar motor

Motion / Mechanics Notes

Entire left side is reversed so that robot can go forward
List (FL Speed, BL speed, BR speed, FR) - remember FL and BL are reversed
Forward: 127, 127, 127, 127 - both joysticks forward
Backwards: -127, -127, -127, -127 - both joysticks backwards
Strafe Left: -127, 127, 127, -127 - both joysticks left
Strafe Right: 127, -127, -127, 127 - both joysticks right
Rotate Left: -127, -127, 127, 127 - left joystick down right joystick up
Rotate Right: 127, 127, -127,-127 - left joystick up right joystick down


------------------------------------------------------*/

int threshold = 15; //minimum joystick value
int intakeStatusValue = 1; //used to keep track of status of intake (on/off)
bool intakeStatus = false; //current status is false(off)
int armSpeed = 127;
task main()
{
	//Assign some starter values to the four movement integers
	int LY = 0;
	int LX = 0;
	int RY = 0;
	int RX = 0;

	while(true )
	{
		/*
		Ternary Statement: value = (true boolean) ? (false boolean) : value
		If the absolute value of one of these vexRT Channels is greater than the threshold, assign the value
		If it is NOT greater than threshold, make it 0
		*/
		LX = (abs(vexRT[Ch4]) > threshold) ? vexRT[Ch4] : 0;
		LY = (abs(vexRT[Ch3]) > threshold) ? vexRT[Ch3] : 0;
		RY = (abs(vexRT[Ch2]) > threshold) ? vexRT[Ch2] : 0;
		RX = (abs(vexRT[Ch1]) > threshold) ? vexRT[Ch1] : 0;

		motor[FL] = LY + LX;
		motor[FR] = RY - RX;
		motor[BR] = RY + RX;
		motor[BL] = LY - LX;

		if(vexRT[Btn6U] == 1 && vexRT[Btn6D] == 0){
			motor[rightArm] = armSpeed;
		}
		else if (vexRT[Btn6D] == 1 && vexRT[Btn6U] == 0){
			motor[rightArm] = -armSpeed;
	}
	else if (vexRT[Btn6D]== 0 && vexRT[Btn6U] == 0){
		motor[rightArm] = 0;
	}

	if(vexRT[Btn5U] == 1 && vexRT[Btn5D] == 0){

	motor[rightArmHook] = 127;
	}
	else if (vexRT[Btn5U] == 0 && vexRT[Btn5D] == 1){
	motor[rightArmHook] = -127;
	}
	else if (vexRT[Btn5U] == 0 && vexRT[Btn5D] == 0){
	motor[rightArmHook] = 0;
	}
}
}