2017markII.c

void setLeftWheelSpeed(int speed) {
  motor[leftWheel1] = speed;
  motor[leftWheel2] = speed;
  motor[leftWheel3] = speed;
  motor[leftWheel4] = speed;
}

void setRightWheelSpeed(int speed) {
  motor[rightWheel1] = speed;
  motor[rightWheel2] = speed;
  motor[rightWheel3] = speed;
  motor[rightWheel4] = speed;
}

void drivebase (int left, int right, int deadbands) {
  setLeftWheelSpeed(abs(left)<deadbands?0:left);
  setRightWheelSpeed(abs(right)<deadbands?0:right);
}

void lift (int power) {
  motor[leftLift] = power;
  motor[rightLift] = power;
}

task main () {
  while(true) {
   drivebase(vexRT(Ch3), vexRT(Ch2), 10);
   
    if(vexRT(Btn8U))
      lift(127);
    else if(vexRT(Btn8D))
      lift(-127);
    else
      lift(0);
   
  }
}