{"mode":"Blocks","workspace":"myVariableIntakeMotorpct100CatapultMotorpct100pct100ButtonFUpreleasedCatapultMotorButtonEDownpressedCatapultBumperCatapultBumperButtonFUppressedCatapultMotorfwdButtonFDownpressedCatapultMotorrevButtonFDownreleasedCatapultMotor1121HelloCatapultMotordeg31HelloCatapultMotordeg540041CatapultBumperBumper Pressed!CatapultMotorfwddegTRUE8000CatapultBumper0.25CatapultBumperCatapultMotorCatapultMotorfwddegTRUE5400CatapultBumperCatapultMotor","rconfig":[{"port":[1,3,0],"name":"Drivetrain","customName":false,"deviceType":"Drivetrain","setting":{"type":"2-motor","wheelSize":"200mm","gearRatio":"1:1","direction":"rev","gyroType":"none","width":"10.25","unit":"in","wheelbase":"3","wheelbaseUnit":"in"},"triportSourcePort":22},{"port":[2],"name":"IntakeMotor","customName":true,"deviceType":"Motor","setting":{"reversed":"true","fwd":"forward","rev":"reverse"},"triportSourcePort":22},{"port":[4],"name":"CatapultMotor","customName":true,"deviceType":"Motor","setting":{"reversed":"true","fwd":"forward","rev":"reverse"},"triportSourcePort":22},{"port":[5],"name":"CatapultBumper","customName":true,"deviceType":"Bumper","setting":{},"triportSourcePort":22},{"port":[],"name":"Controller","customName":false,"deviceType":"Controller","setting":{"left":"IntakeMotor","leftDir":"false","right":"","rightDir":"false","e":"","eDir":"false","f":"","fDir":"false","drive":"arcader"},"triportSourcePort":22}],"slot":0,"platform":"IQ","sdkVersion":"","appVersion":"","fileFormat":"1.0.0","icon":"","cppStatus":"true","cpp":"// Make sure all required headers are included.\n#include \n#include \n#include \n#include \n#include \n\n\n#include \"iq_cpp.h\"\n\nusing namespace vex;\n\n// Brain should be defined by default\nbrain Brain;\n\n\n// START IQ MACROS\n#define waitUntil(condition) \\\n do { \\\n wait(5, msec); \\\n } while (!(condition))\n\n#define repeat(iterations) \\\n for (int iterator = 0; iterator < iterations; iterator++)\n// END IQ MACROS\n\n\n// Robot configuration code.\nmotor LeftDriveSmart = motor(PORT1, 1, true);\nmotor RightDriveSmart = motor(PORT3, 1, false);\ndrivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart,200, 260.34999999999997, 76.19999999999999, mm, 1);\nmotor IntakeMotor = motor(PORT2, true);\nmotor CatapultMotor = motor(PORT4, true);\nbumper CatapultBumper = bumper(PORT5);\ncontroller Controller = controller();\n\n\n\n//Vision sensor index vars.\nint Vision1_objectIndex = 0;\n\n\n\n// Generated code.\n\n\n\n\n// define variable for remote controller enable/disable\nbool RemoteControlCodeEnabled = true;\n// define variables used for controlling motors based on controller inputs\nbool ControllerLeftShoulderControlMotorsStopped = true;\nbool DrivetrainNeedsToBeStopped_Controller = true;\n\n// define a task that will handle monitoring inputs from Controller\nint rc_auto_loop_function_Controller() {\n // process the controller input every 20 milliseconds\n // update the motors based on the input values\n while(true) {\n if(RemoteControlCodeEnabled) {\n // calculate the drivetrain motor velocities from the controller joystick axies\n // left = AxisD + AxisC\n // right = AxisD - AxisC\n int drivetrainLeftSideSpeed = Controller.AxisD.position() + Controller.AxisC.position();\n int drivetrainRightSideSpeed = Controller.AxisD.position() - Controller.AxisC.position();\n \n // check if the values are inside of the deadband range\n if (abs(drivetrainLeftSideSpeed) < 5 && abs(drivetrainRightSideSpeed) < 5) {\n // check if the motors have already been stopped\n if (DrivetrainNeedsToBeStopped_Controller) {\n // stop the drive motors\n LeftDriveSmart.stop();\n RightDriveSmart.stop();\n // tell the code that the motors have been stopped\n DrivetrainNeedsToBeStopped_Controller = false;\n }\n } else {\n // reset the toggle so that the deadband code knows to stop the motors next time the input is in the deadband range\n DrivetrainNeedsToBeStopped_Controller = true;\n }\n \n // only tell the left drive motor to spin if the values are not in the deadband range\n if (DrivetrainNeedsToBeStopped_Controller) {\n LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);\n LeftDriveSmart.spin(forward);\n }\n // only tell the right drive motor to spin if the values are not in the deadband range\n if (DrivetrainNeedsToBeStopped_Controller) {\n RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);\n RightDriveSmart.spin(forward);\n }\n // check the ButtonLUp/ButtonLDown status to control IntakeMotor\n if (Controller.ButtonLUp.pressing()) {\n IntakeMotor.spin(forward);\n ControllerLeftShoulderControlMotorsStopped = false;\n } else if (Controller.ButtonLDown.pressing()) {\n IntakeMotor.spin(reverse);\n ControllerLeftShoulderControlMotorsStopped = false;\n } else if (!ControllerLeftShoulderControlMotorsStopped) {\n IntakeMotor.stop();\n // set the toggle so that we don't constantly tell the motor to stop when the buttons are released\n ControllerLeftShoulderControlMotorsStopped = true;\n }\n }\n // wait before repeating the process\n wait(20, msec);\n }\n return 0;\n}\n\n\n// Include the IQ Library\n#include \"iq_cpp.h\"\n \n// Allows for easier use of the VEX Library\nusing namespace vex;\n\n// User defined function\nvoid myblockfunction_SetUp();\n// User defined function\nvoid myblockfunction_ShootCatapult();\n// User defined function\nvoid myblockfunction_ReturnCatapult();\n\nint Brain_precision = 0;\n\nfloat myVariable;\n\n// Used to find the format string for printing numbers with the\n// desired number of decimal places\nconst char* printToBrain_numberFormat() {\n // look at the current precision setting to find the format string\n switch(Brain_precision){\n case 0: return \"%.0f\"; // 0 decimal places (1)\n case 1: return \"%.1f\"; // 1 decimal place (0.1)\n case 2: return \"%.2f\"; // 2 decimal places (0.01)\n case 3: return \"%.3f\"; // 3 decimal places (0.001)\n default: return \"%f\"; // use the print system default for everthing else\n }\n}\n\n// User defined function\nvoid myblockfunction_SetUp() {\n Brain.Screen.clearScreen();\n Brain.Screen.setCursor(1, 1);\n Brain.Screen.setCursor(2, 1);\n Brain.Screen.print(printToBrain_numberFormat(), static_cast(CatapultMotor.position(degrees)));\n Brain.Screen.setCursor(3, 1);\n Brain.Screen.print(printToBrain_numberFormat(), static_cast(CatapultMotor.position(degrees) / 5400.0));\n Brain.Screen.setCursor(4, 1);\n while (CatapultBumper.pressing()) {\n Brain.Screen.print(\"Bumper Pressed!\");\n break;\n wait(20, msec);\n }\n}\n\n// User defined function\nvoid myblockfunction_ShootCatapult() {\n CatapultMotor.spinFor(forward, 8000.0, degrees, false);\n waitUntil((!CatapultBumper.pressing()));\n wait(0.25, seconds);\n waitUntil(CatapultBumper.pressing());\n CatapultMotor.stop();\n}\n\n// User defined function\nvoid myblockfunction_ReturnCatapult() {\n CatapultMotor.spinFor(forward, 5400.0, degrees, false);\n waitUntil(CatapultBumper.pressing());\n CatapultMotor.stop();\n}\n\n// \"when started\" hat block\nint whenStarted1() {\n IntakeMotor.setVelocity(100.0, percent);\n CatapultMotor.setVelocity(100.0, percent);\n Drivetrain.setDriveVelocity(100.0, percent);\n while (true) {\n myblockfunction_SetUp();\n wait(20, msec);\n }\n return 0;\n}\n\n// \"when Controller ButtonFUp released\" hat block\nvoid onevent_ControllerButtonFUp_released_0() {\n CatapultMotor.stop();\n}\n\n// \"when Controller ButtonEDown pressed\" hat block\nvoid onevent_ControllerButtonEDown_pressed_0() {\n if (CatapultBumper.pressing()) {\n myblockfunction_ShootCatapult();\n }\n if (!CatapultBumper.pressing()) {\n myblockfunction_ReturnCatapult();\n }\n}\n\n// \"when Controller ButtonFUp pressed\" hat block\nvoid onevent_ControllerButtonFUp_pressed_0() {\n CatapultMotor.spin(forward);\n}\n\n// \"when Controller ButtonFDown pressed\" hat block\nvoid onevent_ControllerButtonFDown_pressed_0() {\n CatapultMotor.spin(reverse);\n}\n\n// \"when Controller ButtonFDown released\" hat block\nvoid onevent_ControllerButtonFDown_released_0() {\n CatapultMotor.stop();\n}\n\n\nint main() {\n task rc_auto_loop_task_Controller(rc_auto_loop_function_Controller);\n\n // register event handlers\n Controller.ButtonFUp.released(onevent_ControllerButtonFUp_released_0);\n Controller.ButtonEDown.pressed(onevent_ControllerButtonEDown_pressed_0);\n Controller.ButtonFUp.pressed(onevent_ControllerButtonFUp_pressed_0);\n Controller.ButtonFDown.pressed(onevent_ControllerButtonFDown_pressed_0);\n Controller.ButtonFDown.released(onevent_ControllerButtonFDown_released_0);\n\n wait(15, msec);\n whenStarted1();\n}"}