firstclaw.rbc

#pragma config(Motor,  motor1,          rightBack,     tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  motor2,          rightFront,    tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  motor3,          leftBack,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  motor4,          leftFront,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  motor5,          arm,           tmotorVex393_MC29, openLoop)
#pragma config(Motor,  motor6,          claw,          tmotorVex393_MC29, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
	int leftSpeed;
	int rightSpeed;
	int armSpeed;
	int grabberSpeed;
	while (1==1){
	//To control the left with channel 3
		if (vexRT[Ch3] > -35 && vexRT[Ch3] < 35)
		{
			leftSpeed = 0;
		}
		else
		{
			leftSpeed = vexRT[Ch3];
		}

	//To control the right with channel 2
		if (vexRT[Ch2] > -35 && vexRT[Ch2] < 35)
		{
			rightSpeed = 0;
		}
		else
		{
			rightSpeed = vexRT[Ch2];
		}

		//Controls arm movement
		if (vexRT[Btn6U]==1) {
			armSpeed = -60;
			grabberSpeed = 0;
		}
		else if (vexRT[Btn6D]==1) {
			armSpeed = 60;
			//grabberSpeed = -30;
		}
		else {
			armSpeed = 0;
			grabberSpeed = 0;
		}

		//Controls pinchers movement
		if (vexRT[Btn8U]==1)
			{
				grabberSpeed = 127;
			}
		else if (vexRT[Btn8D]==1)
			{
				grabberSpeed = -127;
			}
		else {
				grabberSpeed = 0;
		}

		motor[leftFront] = leftSpeed;
		motor[leftBack] = leftSpeed;
		motor[rightFront] = rightSpeed;
		motor[rightBack] = rightSpeed;
		motor[arm] = armSpeed;
		motor[claw] = grabberSpeed;
	}
}