Joy2arcadeliftflagtouch.c

#pragma config(Hubs,  S1, HTMotor,  none,     none,     none)
#pragma config(Hubs,  S2, HTMotor,  none,     none,     none)
#pragma config(Sensor, S3,     touchSensor,    sensorTouch)
#pragma config(Motor,  motorA,          vacuumA,       tmotorNXT, openLoop, encoder)
#pragma config(Motor,  motorB,          vacuumB,       tmotorNXT, openLoop, encoder)
#pragma config(Motor,  motorC,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  mtr_S1_C1_1,     leftMotor,     tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     rightMotor,    tmotorTetrix, openLoop, reversed)
#pragma config(Motor,  mtr_S2_C1_1,     flag,          tmotorTetrix, openLoop, reversed)
#pragma config(Motor,  mtr_S2_C1_2,     lift,          tmotorTetrix, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c"

//Arcade Joystick;
void ArcadeControl(int move, int turn)  //Setup Left Joystick on Contoller 2 for forward/backward movement.  Right Joystick for left/right
{
	int left = move - turn;
	int right = move + turn;

	motor[leftMotor] = left;
	motor[rightMotor] = right;
}

//
// Main task - program entry point
//
task main()
{
 while (true)
  {
  	getJoystickSettings(joystick);
  	ArcadeControl(joystick.joy2_y1, joystick.joy2_x2);  //y1 is forward/backward.  x2 is left/right.

  	// Block Intake
		if (joy1Btn(2) == 1)	     // if Button (2)"A" is pressed on Joystick1:
		{
			motor[vacuumA] = 100;		 // Turn vacuumA on at full power
	    motor[vacuumB] = 100;    // Turn vacuumB on at full power
		}
		else if (joy1Btn(3) == 1)  // if Button (3)"B" is pressed on Joystick1:
		{
		  motor[vacuumA] = -100;
	    motor[vacuumB] = -100;
  	}
	  else
	  {
  		motor[vacuumA] = 0;	     // Turn both motors Off
	    motor[vacuumB] = 0;
	   }

	  // Scissor Lift
	  if (joy1Btn(4) == 1)       //if Button "Y" is pressed on Joystick 1 motor will lift scissors at 60% power
	  {
	  	motor[lift] = 60;
	  }
	  else if ((joy1Btn(1) == 1) & (SensorValue(touchSensor) == 0))  //if Button "X" is pressed on Joystick 1 motor will lower scissors at 60% power
	  {
      		motor[lift] = -60;                  // Run lift downwards //
		}
	  else
	  {
  		motor[lift] = 0;	       // Turn Lift Motor Off
	  }

	  //Flag
	  if (joy2Btn(2) == 1)			 // When you press "A" on Joystick 2 it activates the flag turn
	  {
	    motor[flag] = 100;			 // Flag motor spins clockwise to raise flag up
	  }
	  else
	  {
	  	motor[flag] = 0;         // Turn flag motor Off
	  }
  }
}