iso.c

#pragma config(Sensor, dgtl1,  liftBottom,     sensorTouch)
#pragma config(Motor,  port1,           liftRI,        tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           liftRO,        tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port3,           liftLI,        tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port4,           liftLO,        tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port5,           intake1,       tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port6,           intake2,       tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           leftDrive1,    tmotorVex393HighSpeed_MC29, openLoop, driveRight)
#pragma config(Motor,  port8,           leftDrive2,    tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port9,           rightDrive1,   tmotorVex393HighSpeed_MC29, openLoop, reversed)
#pragma config(Motor,  port10,          rightDrive2,   tmotorVex393HighSpeed_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

// This code is for the VEX cortex platform
#pragma platform(VEX2)

// Select Download method as "competition"
#pragma competitionControl(Competition)

//Main competition background code...do not modify!
#include "Vex_Competition_Includes.c"

void lift(int power){
	motor[liftLI]=power;
	motor[liftLO]=power;
	motor[liftRI]=power;
	motor[liftRO]=power;
}

void lift(){
	if(vexRT[Btn5U]){
		lift(127);
	}
	else if(SensorValue(liftBottom)==1){
		lift(0);
	}
	else if(vexRT[Btn5D]){
		lift(-127);
	}
	else{
			lift(15);
	}
}

void claw () {
	if(vexRT[Btn6U]) {
		motor[intake1] = 127;
		motor[intake2] = 127;
	} else if (vexRT[Btn6D]) {
		motor[intake1] = -127;
		motor[intake2] = -127;
	} else {
		motor[intake1] = 0;
		motor[intake2] = 0;
	}	
}

int deadbands = 13;
void drive(){
	int right = abs(vexRT[Ch2])<deadbands?0:vexRT[Ch2];
	int left = abs(vexRT[Ch3])<deadbands?0:vexRT[Ch3];
	motor[rightDrive1]=right;
	motor[rightDrive2]=right;
	motor[leftDrive1]=left;
	motor[leftDrive2]=left;
}

void pre_auton() {}

void intaker(){
	if(vexRT[Btn6U]){
		motor[intake1]=127;
		motor[intake2]=127;
	}
	else if(vexRT[Btn6D]){
		motor[intake1]=-127;
		motor[intake2]=-127;
	}
	else{
		motor[intake1]=5;
		motor[intake2]=5;
	}
}
task autonomous {

}

task usercontrol(){
	while(true){
		drive();
		lift();
		claw();
		intaker();
		wait1Msec(25);
	}
}