Added arm safety check
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9fe96bc99b
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232
Labs.c
232
Labs.c
@ -45,6 +45,41 @@ void setMotors(int leftSpeed, int rightSpeed) {
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motor[rightMotor] = rightSpeed;
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}
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//==================================================================================//
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/* Arm safety checker, verifies potentiometer position and limit switch status
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* of the arm to disable the motors automatically.
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*
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* Arguments:
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* - direction: single character
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* - "U" | "D": Up or Down respectively
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* - Determines which direction the arm wants to move, otherwise the arm would always
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* be stuck in a limit position.
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*
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* Returns:
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* - integer: Status, 0 means arm is in a blocked position, 1 means the arm can move
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*
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* Notes:
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* None.
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*/
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int checkArm(char *direction) {
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if (direction == "U") { // The arm wants to go up
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// So we check the potentiometer
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if (SensorValue[armPos] < 1800) { // 1800 limit / 2300 max
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return 1; // The arm can move up more
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} else {
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return 0; // The arm is at the upper limit, do not move it up more
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}
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} else if (direction == "D") { // The arm wants to go down
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// So we check the limit switch
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if (SensorValue[armLimit] == 1) { // The limit switch isn't being pressed
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return 1; // The arm can move down more
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} else { // The switch is being pressed down
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return 0; // The arm cannot be moved down more
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}
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}
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}
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/* Quickly set the arm motor speed
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*
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* Arguments:
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@ -55,8 +90,24 @@ void setMotors(int leftSpeed, int rightSpeed) {
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* This is a very superfluous function but I hate typing motor[motorName] = 127 constantly
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*/
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void setArm(int speed) {
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// Set the arm motor speed
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motor[armMotor] = speed;
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// Check the arm safety
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int safe = 0;
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if (speed > 0) {
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safe = checkArm("U");
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} else if (speed < 0) {
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safe = checkArm("D");
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} else {
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safe = 0;
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}
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if (safe == 1) {
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// Set the arm motor speed
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motor[armMotor] = speed;
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} else {
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// Turn off the motor
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motor[armMotor] = 0;
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}
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}
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/* Quickly set the claw motor speed
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@ -219,6 +270,27 @@ void moveArm(int speed, int timeMs) {
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motor[armMotor] = 0;
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}
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//==================================================================================//
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/* Move the bot's claw motor
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*
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* Arguments:
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* - speed: signed integer. -127 to 127
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* - <0: Down
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* - >0: Up
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* - Speed to drive the claw motor
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* - timeMs: signed integer
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* - Time to wait before stopping the claw, in milliseconds
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*/
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void moveClaw(int speed, int timeMs) {
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// Turn on the motor at the set speed
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motor[clawMotor] = speed;
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// Wait for the set time
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wait1Msec(timeMs);
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// Turn the motor off
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motor[clawMotor] = 0;
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}
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/* Put your arms in the air like you just don't care
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* Moves the bot's arm up until it reaches a preset position,
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* determined by a potentiometer
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@ -308,104 +380,86 @@ void clawRelease() {
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*
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* Arguments: None
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* Notes: TODO: Find a way to recall main() so this can be rerun without rebooting/recompiling
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*
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* Lab Description:
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* Have arm motor
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* - Run autonomous with start button
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* - Arm up 1000ms
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* - Arm down 1000ms
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* - Claw release 1000ms
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* - Claw grab 1000ms
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* - Repeat @50% speed
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*/
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void runAutonomous() {
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// Drive Left Side
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// driveOneSide("L", 127, 1000);
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// Drive Right Side
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// driveOneSide("R", 127, 1000);
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// Reverse Left Side
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// driveOneSide("L", -127, 1000);
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// Reverse Right Side
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// driveOneSide("R", -127, 1000);
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// Drive forward 3 seconds
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// driveForward(127, 3000);
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// Drive backwards 3 seconds
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// driveBackward(127, 3000);
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// Left forward, right reverse
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// turn("R", 127, 1000, true);
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// Half-speed forward
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// driveForward(64, 3000);
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// Quarter-speed forward
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// driveForward(32, 3000);
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// Raise the arm up a bit
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// armUp(127, 500);
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// Drop the arm all the way down
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// armDown100(16);
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clawRelease();
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clawGrab();
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armUp100(32);
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clawRelease();
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clawGrab();
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armDown100(32);
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moveArm(127, 1000);
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moveArm(-127, 1000);
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moveClaw(127, 1000);
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moveClaw(-127, 1000);
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moveArm(64, 1000);
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moveArm(-64, 1000);
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moveClaw(64, 1000);
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moveClaw(-64, 1000);
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}
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//==================================================================================//
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/* Wait for the start button to be pressed, then run autonomous code.
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*
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* Arguments: None
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*/
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void waitForStart() {
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// TODO: Experimental, hoping this will call this function again when done instead of exiting
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waitForStart();
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}
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//==================================================================================//
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// This function gets called automatically once the bot is booted.
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task main() {
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while (SensorValue[buttonStart]==1) {
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// Driver Mode, Controller Inputs
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int leftSpeed = (vexRT[Ch2] + vexRT[Ch1]) / 2; // (y + x) / 2
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int rightSpeed = (vexRT[Ch2] - vexRT[Ch1])/2; // (y - x) / 2
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float leftAdjSpeed = leftSpeed / 10;
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float rightAdjSpeed = rightSpeed / 10;
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leftAdjSpeed = floor(leftAdjSpeed) * 10;
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rightAdjSpeed = floor(rightAdjSpeed) * 10;
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// Loop over this code infinitely, this will allow running the autocode more than once
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while (1) {
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// As long as the start button isn't pressed (Logical 1) run the code for the controller input
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while (SensorValue[buttonStart]==1) {
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// Driver Mode, Controller Inputs
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int leftSpeed = (vexRT[Ch2] + vexRT[Ch1]) / 2; // (y + x) / 2
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int rightSpeed = (vexRT[Ch2] - vexRT[Ch1])/2; // (y - x) / 2
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float leftAdjSpeed = leftSpeed / 10;
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float rightAdjSpeed = rightSpeed / 10;
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leftAdjSpeed = floor(leftAdjSpeed) * 10;
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rightAdjSpeed = floor(rightAdjSpeed) * 10;
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if (fabs(leftAdjSpeed) > 30) {
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motor[leftMotor] = leftAdjSpeed;
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} else {
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motor[leftMotor] = 0;
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if (fabs(leftAdjSpeed) > 30) {
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motor[leftMotor] = leftAdjSpeed;
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} else {
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motor[leftMotor] = 0;
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}
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if (fabs(rightAdjSpeed) > 30) {
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motor[rightMotor] = rightAdjSpeed;
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} else {
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motor[rightMotor] = 0;
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}
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// Raise, lower or do not move arm
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if(vexRT[Btn7U] == 1) //If button 7U is pressed...
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{
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motor[armMotor] = 32; //...raise the arm.
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}
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else if(vexRT[Btn7D] == 1) //Else, if button 7D is pressed...
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{
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motor[armMotor] = -32; //...lower the arm.
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}
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else //Else (neither button is pressed)...
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{
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motor[armMotor] = 0; //...stop the arm.
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}
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// Open, close or do not more claw
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if(vexRT[Btn7L] == 1) //If Button 7L is pressed...
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{
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motor[clawMotor] = 64; //...open the gripper.
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}
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else if(vexRT[Btn7R] == 1) //Else, if button 7R is pressed...
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{
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motor[clawMotor] = -32; //...close the gripper.
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}
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else //Else (neither button is pressed)...
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{
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motor[clawMotor] = 0; //...stop the gripper.
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}
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}
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if (fabs(rightAdjSpeed) > 30) {
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motor[rightMotor] = rightAdjSpeed;
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} else {
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motor[rightMotor] = 0;
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}
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// Raise, lower or do not move arm
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if(vexRT[Btn7U] == 1) //If button 5U is pressed...
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{
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motor[armMotor] = 32; //...raise the arm.
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}
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else if(vexRT[Btn7D] == 1) //Else, if button 5D is pressed...
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{
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motor[armMotor] = -32; //...lower the arm.
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}
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else //Else (neither button is pressed)...
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{
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motor[armMotor] = 0; //...stop the arm.
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}
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// Open, close or do not more claw
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if(vexRT[Btn7L] == 1) //If Button 6U is pressed...
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{
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motor[clawMotor] = 64; //...close the gripper.
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}
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else if(vexRT[Btn7R] == 1) //Else, if button 6D is pressed...
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{
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motor[clawMotor] = -32; //...open the gripper.
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}
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else //Else (neither button is pressed)...
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{
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motor[clawMotor] = 0; //...stop the gripper.
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}
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// Once we've detected a button press, run the autonomous function block.
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runAutonomous();
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}
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// Once we've detected a button press, run the autonomous function block.
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runAutonomous();
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}
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