[jacob_dilles]

this is the meat of my code... as you can guess the drive motors are on pwms 15,16 and the inturpts incrment count.

/********************************************************
************jacobs autonoumus code....******************** 
*******************************************************/
  		relay8_fwd = !rc_dig_in18;  			// Power pump only if pressure switch is on. 
  		relay8_rev = 0;
//this start start it moving... ladies and gents start your engins
		if(count >= 0 && count < 2) {
 			pwm15 = 127 + 50;			//drive strait
			pwm16 = 127 + 50;			//drive strait
//turn to get the ball
	if(count> 12 && count < 14) {
		foward = 0;					//turn off correction algoritiom (cuz were turning duh)
 			pwm15 = 127 + 50;			//make right wheel turn fowards
			pwm16 = 127 - 50;			//make left wheel turn backwards
			pwm01 = 254;				//make arm go up
		}
		if(rc_dig_in16 == 1) { 				//make sure arm doesnt go to high!!!
			pwm01 = 127;
		}
//then we have to go strait slightly to get to the ball
		if(count > 14 && count < 16) {
 			pwm15 = 127 + 50;			//go foward
			pwm16 = 127 + 50;			//go foward
			relay3_fwd = 1;				//open the gripers...
			relay3_rev = 0;				//open the grpiers...
		}
//now turn to AND close the gippers to knock/grab ball off... combo move HI-YAH
		if(count > 18 && count < 23) {
 			pwm15 = 127 - 50;			//turn the other way
			pwm16 = 127 + 50;			//turn the other way
			relay3_fwd = 0;				//close grippers
			relay3_rev = 1;				//close grippers
			
		}

//NOW we shut down motors
	if(count > 24 && count < 100) {
 		pwm15 = 127;					//turn the other way
		pwm16 = 127;					//turn the other way
		}	
/***********************************************************
*******************end jacobs auton code****************** 
***********************************************************/