 | Code: #pragma config(Hubs, S1, HTMotor, HTServo, none, none) #pragma config(Hubs, S2, HTMotor, HTServo, none, none) #pragma config(Motor, mtr_S1_C1_1, drivemotor1, tmotorTetrix, openLoop, reversed) #pragma config(Motor, mtr_S1_C1_2, drivemotor2, tmotorTetrix, openLoop) #pragma config(Motor, mtr_S2_C1_1, motorF, tmotorTetrix, openLoop) #pragma config(Motor, mtr_S2_C1_2, motorG, tmotorTetrix, openLoop) #pragma config(Servo, srvo_S1_C2_1, servo1, tServoStandard) #pragma config(Servo, srvo_S1_C2_2, servo2, tServoStandard) #pragma config(Servo, srvo_S1_C2_3, servo3, tServoStandard) #pragma config(Servo, srvo_S1_C2_4, servo4, tServoStandard) #pragma config(Servo, srvo_S1_C2_5, servo5, tServoStandard) #pragma config(Servo, srvo_S1_C2_6, servo6, tServoStandard) #pragma config(Servo, srvo_S2_C2_1, servo7, tServoStandard) #pragma config(Servo, srvo_S2_C2_2, servo8, tServoStandard) #pragma config(Servo, srvo_S2_C2_3, servo9, tServoStandard) #pragma config(Servo, srvo_S2_C2_4, servo10, tServoStandard) #pragma config(Servo, srvo_S2_C2_5, servo11, tServoStandard) #pragma config(Servo, srvo_S2_C2_6, servo12, tServoStandard) //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c" //Joystick is included in this program
task main() { int threshold = 15; //to avoid unnecessary movement
servo[servo1]=50; wait1Msec(1000);
while(true) //infinite loop { getJoystickSettings(joystick); //retrieves data from the joystick
if(abs(joystick.joy1_y1) > threshold) { motor[drivemotor1] = joystick.joy1_y1; //y1 controller moves drive motor } else { motor[drivemotor1] = 0; }
if(abs(joystick.joy1_y2) > threshold) { motor[drivemotor2] = joystick.joy1_y2; //y2 controller moves motorE } else { motor[drivemotor2] = 0; } if(joystick.joy1_Buttons == 128) { servo[servo1] = ServoValue[servo1]+3; } if(joystick.joy1_Buttons == 32) { servo[servo1] = ServoValue[servo1]-3; } if(joystick.joy1_Buttons == 2) { servo[servo2] = ServoValue[servo2]-5; } if(joystick.joy1_Buttons == 4) { servo[servo2] = ServoValue[servo2]+5; } } } |  |