How to write this Function in C++ ?(RobotC to C++)

Programming Support ROBOTC Tech Support
#1

I’ve been writing some code for a competition next week, and I can’t figure out how to write this common function in C++. Here is the code in Robot C.

#pragma config(Motor,  port1,           leftFront,     tmotorVex393_HBridge, openLoop)
#pragma config(Motor,  port2,           leftBack,      tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port3,           rightFront,    tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port4,           rightBack,     tmotorVex393_MC29, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//


void baseControl(int leftSpeed, int rightSpeed, int time)
{
	motor[leftFront] = leftSpeed;
	motor[leftBack] = leftSpeed;
	motor[rightFront] = rightSpeed;
	motor[rightBack] = rightSpeed;
	time = wait1Msec(time);
}
task main()
{
	baseControl(127, 127, 1000);

}

Basically, it makes each drive train rotate for a certain amount of power for a certain amount of time. Thanks for the help as always.

#2

It’s pretty much going to be the same when written in VEX C++ or C++ Pro. The motors will usually be defined in the configuration page or robot-config.h, but the code will be along these lines.


using namespace vex;

vex::motor leftFront( vex::PORT1, gearSetting::ratio18_1 );
vex::motor leftBack( vex::PORT2, gearSetting::ratio18_1 );
vex::motor rightFront( vex::PORT3, gearSetting::ratio18_1, true );
vex::motor rightBack( vex::PORT4, gearSetting::ratio18_1, true );

void baseControl(int leftSpeed, int rightSpeed, int time)
{
  //motor[leftFront] = leftSpeed;
  leftFront.spin( fwd, leftSpeed, velocityUnits::rpm );
  //motor[leftBack] = leftSpeed;
  leftBack.spin( fwd, leftSpeed, velocityUnits::rpm );
  //motor[rightFront] = rightSpeed;
  rightFront.spin( fwd, rightSpeed, velocityUnits::rpm );
  //motor[rightBack] = rightSpeed;
  rightBack.spin( fwd, rightSpeed, velocityUnits::rpm );
  //time = wait1Msec(time);
  vex::task::sleep(time);
}

int main() {
  baseControl(127, 127, 1000);

  return(0);
}
#3