/****************************************************\
 * Two motor rev down task.
 * Must predefine the shooter motors in #define statements
 *   or constants.
 * Called as a task so it won't interrupt other processes.
\****************************************************/

#define _SHOOTER_MOTOR_TOP_ motor2_1
#define _SHOOTER_MOTOR_BOTTOM_ motor2_2
task revShooterDown() {
  while(motor[_SHOOTER_MOTOR_TOP_]!=0||motor[_SHOOTER_MOTOR_BOTTOM_]!=0) {
    //Top motor
    //Are not at 0 power?
    if(motor[_SHOOTER_MOTOR_TOP_]!=0)
      //Is the power < 10?
      if(abs(motor[_SHOOTER_MOTOR_TOP_])<10)
        motor[_SHOOTER_MOTOR_TOP_] = 0;
      //Is the power negative?
      else if(motor[_SHOOTER_MOTOR_TOP_]<0)
        motor[_SHOOTER_MOTOR_TOP_] += 5;
      //The power is positive, and above 10.
      else
        motor[_SHOOTER_MOTOR_TOP_] -= 5;

    //Bottom motor
    //Are not at 0 power?
    if(motor[_SHOOTER_MOTOR_BOTTOM_]!=0)
      //Is the power < 10?
      if(abs(motor[_SHOOTER_MOTOR_BOTTOM_])<10)
        motor[_SHOOTER_MOTOR_BOTTOM_] = 0;
      //Is the power negative?
      else if(motor[_SHOOTER_MOTOR_BOTTOM_]<0)
        motor[_SHOOTER_MOTOR_BOTTOM_] += 5;
      //The power is positive, and above 10.
      else
        motor[_SHOOTER_MOTOR_BOTTOM_] -= 5;
    wait1Msec(200);
  }
}

/****************************************************\
 * One motor rev down task.
 * Must predefine the shooter motor in a #define statement
 *   or constants.
 * Called as a task so it won't interrupt other processes.
\****************************************************/

#define _SHOOTER_MOTOR_ motor2_1

task revShooterDown() {
  while(motor[_SHOOTER_MOTOR_]!=0||motor[_SHOOTER_MOTOR_BOTTOM_]!=0) {
    //Top motor
    //Are not at 0 power?
    if(motor[_SHOOTER_MOTOR_]!=0)
      //Is the power < 10?
      if(abs(motor[_SHOOTER_MOTOR_])<10)
        motor[_SHOOTER_MOTOR_] = 0;
      //Is the power negative?
      else if(motor[_SHOOTER_MOTOR_]<0)
        motor[_SHOOTER_MOTOR_] += 5;
      //The power is positive, and above 10.
      else
        motor[_SHOOTER_MOTOR_] -= 5;
    wait1Msec(200);
  }
}