#pragma config(Motor,  port1,           botRight,      tmotorVex393, openLoop)
#pragma config(Motor,  port2,           topLeft,       tmotorVex393, openLoop)
#pragma config(Motor,  port3,           botLeft,       tmotorVex393, openLoop)
#pragma config(Motor,  port4,           topRight,      tmotorVex393, openLoop)
#pragma config(Motor,  port5,           clawLift,      tmotorVex393, openLoop)
#pragma config(Motor,  port6,           claw,          tmotorVex393, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)
#include "Vex_Competition_Includes.c"   //Main competition background code...do not modify!

void pre_auton()
{
	/*
	 * Don't change anything here
	 */
  bStopTasksBetweenModes = true;

}

task autonomous()
{
	/*
	 *Don't change anything here
	 */
	AutonomousCodePlaceholderForTesting();
}

void driveLeft(int fwd) {
	int fwdCmd = 0;

	if(abs(fwd) < 15)
		fwdCmd = 0;
  else
  	fwdCmd = fwd;

 	motor[botLeft] = -fwdCmd;
 	motor[topLeft] = -fwdCmd;
}

void driveRight(int fwd) {
	int fwdCmd = 0;

	if(abs(fwd) < 15)
		fwdCmd = 0;
  else
  	fwdCmd = fwd;
 	motor[botRight] = -fwdCmd;
 	motor[topRight] = -fwdCmd;
}

task usercontrol()
{
	while (true)
	{
	  driveLeft(vexRT[Ch3]);
	  driveRight(vexRT[Ch2]);
	  if(vexRT[Btn5U] == 1) {
	  	motor[clawLift] = 127;
	} else if(vexRT[Btn6U]==1) {
		  motor[clawLift] = -127;
} else {
 motor[clawLift] = 0;
}

if(vexRT[Btn5D] == 1) {
	  	motor[claw] = 127;
	} else if(vexRT[Btn6D]==1) {
		  motor[claw] = -127;
} else {
 motor[claw] = 0;
}




	  //UserControlCodePlaceholderForTesting();
	}
}