acetousk

#pragma config(Sensor, in1,    progL1,         sensorPotentiometer)
#pragma config(Sensor, in2,    progzR1,        sensorPotentiometer)
#pragma config(Sensor, dgtl1,  ,               sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  ,               sensorQuadEncoder)
#pragma config(Sensor, dgtl5,  ,               sensorSONAR_inch)
#pragma config(Sensor, dgtl7,  ,               sensorSONAR_inch)
#pragma config(Motor,  port1,           intake1,       tmotorVex393TurboSpeed_HBridge, openLoop)
#pragma config(Motor,  port2,           driveL1,       tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port3,           drive2,        tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port4,           drive3,        tmotorVex393HighSpeed_MC29, openLoop)

acetousk

/*********************************************************************/
/*********************************************************************/
/*********************************************************************/

/** ------------------- 72832S variable definitions -----------------*/

/*********************************************************************/
/*********************************************************************/
/*********************************************************************/
int autonRun;

acetousk

int leftVar=vexRT[Ch3];   //check out line 20-22 for how this works
int rightVar=vexRT[Ch2];  //check out line 23-25 for how this works

task usercontrol(){
  while(true){
  if(vexRT[Btn6U]==1)
    motor[intake2]=127;
  else if(vexRT[Btn6D]==1)
    motor[intake2]=-127;
  else 

acetousk

task leftPIDController()
{
		taskRunning=true;
    float  pidSensorCurrentValue;
    float  pidError;
    float  pidLastError;
    float  pidIntegral;
    float  pidDerivative;
    float  pidDrive;