Clawbot IQ Joystick sample program

clawbotiq_joystick.c

#pragma config(Motor,  port1,           leftMotor,     tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port6,           clawMotor,     tmotorVex269, openLoop, reversed)
#pragma config(Motor,  port7,           armMotor,      tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port10,          rightMotor,    tmotorVex393, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//


task main ()
{

	while(1 == 1)
	{
		//Use joystick Channel 2 for forward and backward movement
		//Use joystick Channel 1 for left and right movement
		motor[leftMotor]  = (vexRT[Ch2] + vexRT[Ch1])/2;  // (y + x)/2
		motor[rightMotor] = (vexRT[Ch2] - vexRT[Ch1])/2;  // (y - x)/2

		// Raise, lower or do not move arm using buttons 5U and 5D
		if(vexRT[Btn5U] == 1)			//When button 5U is pressed:
		{
			motor[armMotor] = 127;		//Raise arm at full speed
		}
		else if(vexRT[Btn5D] == 1)		//If 5U is not pressed and 5D is pressed:
		{
			motor[armMotor] = -127;		//Lower arm at full speed
		}
		else					//Otherwise:
		{
			motor[armMotor] = 0;		//Stop the arm.
		}

		// Open, close or do not more claw using buttons 6U and 6D
		if(vexRT[Btn6U] == 1)			//When button 6U is pressed:
		{
			motor[clawMotor] = 127;		//Close gripper at full speed
		}
		else if(vexRT[Btn6D] == 1)		//If 6U us not pressed and 6D is pressed:
		{
			motor[clawMotor] = -127;	//Open the gripper at full speed
		}
		else					//Otherwise:
		{
			motor[clawMotor] = 0;		//Stop the gripper
		}
	}
}