help me with it
#pragma config(Sensor, in9, jono, sensorTouch)
#pragma config(Sensor, in13, am, sensorDigitalIn)
#pragma config(Motor, port1, RMotors, tmotorNormal, openLoop)
#pragma config(Motor, port2, LMotors, tmotorNormal, openLoop)
#pragma config(Motor, port3, LTrack, tmotorNormal, openLoop)
#pragma config(Motor, port4, RTrack, tmotorNormal, openLoop)
task main()
{
bMotorFlippedMode[LMotors] = 1;
bMotorFlippedMode[LTrack] = 1;
bVexAutonomousMode = false; //deactivates Remote Control Mode
while(1 == 1)
//Autonomous mode code
if(bIfiAutonomousPhase)
{
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(400);
motor[LMotors] = 0;
motor[RMotors] = 0;
motor[LTrack] = motor[RTrack] = 127;
wait10Msec(300);
motor[LTrack] = motor[RTrack] = 0;
motor[LMotors] = -127;
motor[RMotors] = 0;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(700);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(200);
motor[LMotors] = -127;
motor[RMotors] = -127;
wait10Msec(350);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
}
//user control code
else
{
motor[LMotors] = vexRT(Ch3);
motor[RMotors] = vexRT(Ch2);
if (vexRT(Ch6) < 100)
{
motor[LTrack] = 127;
}
if (vexRT(Ch5) < 100)
{
motor[RTrack] = 127;
}
if (vexRT(Ch6) > 100)
{
motor[RTrack] = motor[LTrack] = 127;
}
else if (vexRT(Ch1) > -100)
{
motor[RTrack] = motor[LTrack] = 0;
}
else if (vexRT(Ch4) > -100)
{
motor[RTrack] = motor[LTrack] = 0;
}
else if (vexRT(Ch4) < -100)
{
motor[RTrack] = motor[LTrack] = 0;
}
else if (vexRT(Ch1) < -100)
{
motor[RTrack] = motor[LTrack] = 0;
}
if (vexRT(Ch8) > 100)
{
motor[RMotors] = -127;
motor[LMotors] = -127;
}
if (vexRT(Ch8) < 100)
{
motor[RMotors] = 127;
motor[LMotors] = 127;
}
if (vexRT(Ch7) < 100)
{
motor[LMotors] = 127;
}
if (vexRT(Ch7) > 100)
{
motor[RMotors] = 127;
}
if (vexRT(Ch10) < 100)
{
motor[LTrack] = 127;
}
if (vexRT(Ch10) > 100)
{
motor[RTrack] = 127;
}
if (vexRT(Ch9) > 100)
{
motor[RTrack] = motor[LTrack] = 127;
}
else if (vexRT(Ch9) < -100)
{
motor[RTrack] = motor[LTrack] = 0;
motor[LMotors] = 0;
motor[RMotors] = 0;
}
//When channel 5 down the below code runs
if(vexRT(Ch5) > -100)
{
motor[LTrack] = motor[RTrack] = 0;
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(400);
motor[LMotors] = 0;
motor[RMotors] = 0;
motor[LTrack] = motor[RTrack] = 127;
wait10Msec(1600);
motor[LTrack] = motor[RTrack] = 0;
}
if (vexRT(Ch11) < 100)
{
motor[RTrack] = motor[LTrack] = -127;
}
if (vexRT(Ch12) < 100)
{
motor[RMotors] = motor[LMotors] = 127;
}
if (vexRT(Ch12) > 100)
{
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(400);
motor[LMotors] = 0;
motor[RMotors] = 0;
motor[LTrack] = motor[RTrack] = 127;
wait10Msec(300);
motor[LTrack] = motor[RTrack] = 0;
motor[LMotors] = -127;
motor[RMotors] = 0;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(100);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(300);
motor[LMotors] = -127;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(100);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(300);
motor[LMotors] = -127;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(100);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(300);
motor[LMotors] = -127;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
wait10Msec(200);
motor[LMotors] = -127;
motor[RMotors] = -127;
wait10Msec(350);
motor[LMotors] = 0;
motor[RMotors] = -127;
wait10Msec(200);
motor[LMotors] = 127;
motor[RMotors] = 127;
}
//When channel 5.2 is down the below code runs
if(vexRT(Ch11) > 100)
void MissionImpossible()
{
// 100 = Tempo
// 6 = Default octave
// Quarter = Default note length
// 10% = Break between notes
//
PlayTone( 880, 7); wait1Msec( 75); // Note(D, Duration(32th))
PlayTone( 933, 7); wait1Msec( 75); // Note(D#, Duration(32th))
PlayTone( 880, 7); wait1Msec( 75); // Note(D, Duration(32th))
PlayTone( 933, 7); wait1Msec( 75); // Note(D#, Duration(32th))
PlayTone( 880, 7); wait1Msec( 75); // Note(D, Duration(32th))
PlayTone( 933, 7); wait1Msec( 75); // Note(D#, Duration(32th))
PlayTone( 880, 7); wait1Msec( 75); // Note(D, Duration(32th))
PlayTone( 933, 7); wait1Msec( 75); // Note(D#, Duration(32th))
PlayTone( 880, 7); wait1Msec( 75); // Note(D, Duration(32th))
PlayTone( 880, 7); wait1Msec( 75); // Note(D, Duration(32th))
PlayTone( 933, 7); wait1Msec( 75); // Note(D#, Duration(32th))
PlayTone( 988, 7); wait1Msec( 75); // Note(E, Duration(32th))
PlayTone( 1047, 7); wait1Msec( 75); // Note(F, Duration(32th))
PlayTone( 1109, 7); wait1Msec( 75); // Note(F#, Duration(32th))
PlayTone( 1175, 7); wait1Msec( 75); // Note(G, Duration(32th))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1398, 14); wait1Msec( 150); // Note(A#, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 784, 14); wait1Msec( 150); // Note(C, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1047, 14); wait1Msec( 150); // Note(F, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 1109, 14); wait1Msec( 150); // Note(F#, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1398, 14); wait1Msec( 150); // Note(A#, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 784, 14); wait1Msec( 150); // Note(C, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 0, 27); wait1Msec( 300); // Note(Rest, Duration(Eighth))
PlayTone( 1047, 14); wait1Msec( 150); // Note(F, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 1109, 14); wait1Msec( 150); // Note(F#, Duration(16th))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 1398, 14); wait1Msec( 150); // Note(A#, Duration(16th))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 880, 108); wait1Msec(1200); // Note(D, Duration(Half))
PlayTone( 0, 7); wait1Msec( 75); // Note(Rest, Duration(32th))
PlayTone( 1398, 14); wait1Msec( 150); // Note(A#, Duration(16th))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 831, 108); wait1Msec(1200); // Note(C#, Duration(Half))
PlayTone( 0, 7); wait1Msec( 75); // Note(Rest, Duration(32th))
PlayTone( 1398, 14); wait1Msec( 150); // Note(A#, Duration(16th))
PlayTone( 1175, 14); wait1Msec( 150); // Note(G, Duration(16th))
PlayTone( 784, 108); wait1Msec(1200); // Note(C, Duration(Half))
PlayTone( 0, 14); wait1Msec( 150); // Note(Rest, Duration(16th))
PlayTone( 932, 14); wait1Msec( 150); // Note(A#5, Duration(16th))
PlayTone( 784, 14); wait1Msec( 150); // Note(C, Duration(16th))
return;
)
}
}
}
