[tomy]

For reference here is our Telop code

	void OperatorControl(void)
	{
		myRobot.SetSafetyEnabled(true);
		en1.Reset();
		gyro.Reset();
		AxisCamera &robocam = AxisCamera::GetInstance();
		robocam.WriteResolution((AxisCamera::Resolution_t)3);
		robocam.WriteBrightness(0);
		Wait(3.0);
	
		
		while (IsOperatorControl())
		{
		// read digital inputs	
		unsigned short leftValue = left->Get() ? 4 : 0;	// read the line tracking sensors
		unsigned short middleValue = middle->Get() ? 2 : 0;
		unsigned short rightValue = right->Get() ? 1 : 0;
		
		//Look for line sensor inputs only when  right bumber is pressed
		if (xbox.GetRightBumper()){
			switch(leftValue + middleValue + rightValue){
			case(0x0): // normal operation
			case(0x5):
			case(0x7):{ 
					//printf("no line found \n");
					//void MecanumDrive_Cartesian(float x, float rotation, float y, float gyroAngle = 0.0);
					if (!xbox.GetLeftBumper()){
						myRobot.MecanumDrive_Cartesian(xbox.GetLeftX(), xbox.GetRightY(), -xbox.GetLeftY(), 0); //Mecanum drive at full speed
					}
					else{
						myRobot.MecanumDrive_Cartesian(xbox.GetLeftX()/2, xbox.GetRightY()/2, -xbox.GetLeftY()/2, 0);//Mecanumdrive at half speed
					}
					break;
					}
			case(0x1):	// straif right
			case(0x3):{ 
					// printf("right leftstickX = %f, abs = %i\n",leftstick.GetX(), abs((int)leftstick.GetX()));
					float leftvalue = (fabs(xbox.GetLeftX())/-2);
					//printf("right leftstickX = %f\n", leftvalue);
					myRobot.MecanumDrive_Cartesian(leftvalue, 0, -xbox.GetLeftX(), 0);
					break;
					}
			case(0x2):{ // keep going
					//printf("middle \n");
					myRobot.MecanumDrive_Cartesian(0, 0, -xbox.GetLeftX(), 0);
					break;
					}
			case(0x4): // straif left
			case(0x6):{ 
					//printf("left \n");
					float rightvalue = (fabs(xbox.GetLeftX())/2);
					//printf("left leftstickX = %f\n", rightvalue);
					myRobot.MecanumDrive_Cartesian(rightvalue, 0, -xbox.GetLeftX(), 0);
					break;
					}
			default:
					break;
			}
		}
		else {
			//This is how the robot will drive if the right bumper is not pressed 
			//void MecanumDrive_Cartesian(float x, float rotation, float y, float gyroAngle = 0.0);
			if (!xbox.GetLeftBumper()){
				myRobot.MecanumDrive_Cartesian(-xbox.GetLeftX(), -xbox.GetRightY(), -xbox.GetLeftY(), 0); //Mecanum drive at full speed
			}
			else{
				myRobot.MecanumDrive_Cartesian(-xbox.GetLeftX()/2, -xbox.GetRightY()/2, -xbox.GetLeftY()/2, 0);//Mecanumdrive at half speed
			}			
		}