Chief Delphi - [OCCRA]: OCCRA Software Template for RobotC

Here is a simple example of a tank drive with the left motor being on pwm 1 and the right motor being on pwm 2

Code:

/*

Basic OCCRA Tank drive example

Disclaimer: Not tested due to lack of cortex

*/

#pragma platform(VEX2) //This is to tell the compiler that you are using the cortex

#pragma competitionControl(Competition) //This tells the compiler that your robot will have to listen to the field for when it can go

#include "Vex_Competition_Includes.c" //This is telling it how the field will talk to it



//Here we assign variables to more friendly names 

int leftMotor = port1;

int rightMotor = port2;

//Refrence guide for controler at http://www.robotc.net/wikiarchive/VEX2_Functions_Remote_Control_-_VEXnet

int leftJoystick = Ch3;

int rightJoystick = Ch2;

//End of declarations







void pre_auton(){}//This is a function used to set up tasks before the match

task autonomous(){}//This is a function used for an autonomous mode, OCCRA does not have autonomous modes so ignore this function

task usercontrol()//When the match begins the field tells the cortex to run the code in this function

{

        while (true) //This function tells your robot to keep running the code inside this loop

        {

                motor[leftMotor] = vexRT[leftJoystick]; //Here we set the speed of the left motor, -127 being full reverse 0 being neutral and 127 being full forward to the left joysticks output

                motor[rightMotor] = vexRT[rightJoystick]; //Here we set the speed of the right motor, -127 being full reverse 0 being neutral and 127 being full forward to the right joysticks output

        }

}