I’m currently using some very basic code to run the robot, and would like to use the IMEs to fix some drag we are experiencing. I have set up the IMEs such that they are reading correct data.
Basic code:
#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, I2C_1, Left_IEM, sensorQuadEncoderOnI2CPort, , AutoAssign )
#pragma config(Sensor, I2C_2, Right_IEM, sensorQuadEncoderOnI2CPort, , AutoAssign )
#pragma config(Motor, port1, right, tmotorVex393_HBridge, openLoop, reversed, encoderPort, I2C_2)
#pragma config(Motor, port6, claw, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port7, arm, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor, port10, left, tmotorVex393_HBridge, openLoop, encoderPort, I2C_1)
//
task main()
{
while(1 == 1)
{
motor[left] = vexRT[Ch2];
motor[right] = vexRT[Ch3];
motor[center] = (vexRT[Ch1]/2 + vexRT[Ch4]/2);
motor[arm]= (vexRT[Btn5U]*-70 + vexRT[Btn5D]*70);
motor[claw]= (vexRT[Btn6U]*-50 + vexRT[Btn6D]*50);
}
}