#pragma config(ProgramType, StandaloneWiFi)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
/*************************************************************************
Robs Robot Configuration
Description: This program gives user full control over all four wheels of
the robot.
Configuration: This program is written to work with a modified Squarebot model.
- Motors in order Clockwise from battery. (1 - 4)
Additional Notes:
- Robot uses perpendicular motions to move in all directions.
- Power levels that can be assigned to a motor port range from -127 (full
reverse) to 127 (full forward).
*************************************************************************/
int rotateHelper;
task main()
{
while(abs(vexRT[Ch2]) > abs(vexRT[Ch1])) //abs = absolute value
{
// When right Joystick is Up or Down
// Robot goes Forward or Backward
while(abs(vexRT[Ch2]) < 87)
{
// If speed is low, increase speeds to rotate.
motor[port1] = -vexRT[Ch2] - rotateHelper;
motor[port2] = vexRT[Ch2] + rotateHelper;
motor[port3] = vexRT[Ch2] - rotateHelper;
motor[port4] = -vexRT[Ch2] + rotateHelper;
}
while(abs(vexRT[Ch2]) > 87)
{
// If speed is high, decrease speeds to rotate.
motor[port1] = -87 - rotateHelper;
motor[port2] = 87 + rotateHelper;
motor[port3] = 87 - rotateHelper;
motor[port4] = -87 + rotateHelper;
}
}
while(abs(vexRT[Ch2]) < abs(vexRT[Ch1])) // abs = absolute value
{
// When right Joystick is Right or Left
// Robot goes Right or Left
while(abs(vexRT[Ch1]) < 87)
{
// If speed is low, increase speeds to rotate.
motor[port1] = vexRT[Ch1] - rotateHelper;
motor[port2] = vexRT[Ch1] + rotateHelper;
motor[port3] = -vexRT[Ch1] - rotateHelper;
motor[port4] = -vexRT[Ch1] + rotateHelper;
}
while(abs(vexRT[Ch1]) > 87)
{
// If speed is high, decrease speeds to rotate.
motor[port1] = 87 - rotateHelper;
motor[port2] = 87 + rotateHelper;
motor[port3] = -87 - rotateHelper;
motor[port4] = -87 + rotateHelper;
}
}
while(vexRT[Ch6] == 127)
{
// If right backbutton up is pressed, set rotateHelper to 40.
rotateHelper = 40;
}
while(vexRT[Ch5] == 127)
{
// If left backbutton up is pressed, set rotateHelper to -40.
rotateHelper = -40;
}
while(vexRT[Ch6] == 0 && vexRT[Ch5] == 0)
{
// If backbuttons are not pressed, set rotateHelper to 0.
rotateHelper = 0;
}
}//end main