Added initial

Author: Roasted715Jr

180.c

@@ -0,0 +1,51 @@
+#pragma config(Motor,  port2,           frontRight,    tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port3,           frontLeft,     tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port4,           backRight,     tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port5,           backLeft,      tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port6,           rightLauncher, tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port7,           leftLauncher,  tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port8,           topBelt,       tmotorVex393_MC29, openLoop)
+
+// Setup for the shaft encoders. All units are in inches, unless otherwise stated.
+float diameter = 4;
+float circumference = PI * diameter;
+
+// Now we will find out how many times each wheel has to turn to go a specefied distance for the right side.
+float distanceRight = 29.875;
+int rotationsRight = distanceRight / circumference;
+float degreesRight = rotationsRight * 360;
+int encoderCountsRight = degreesRight * 4; // The encoder counts in quarter degrees.
+
+// This is so we can find out how many times the left wheels have to turn to go the specefied distance
+float distanceLeft = -29.875;
+int rotationsLeft = distanceLeft / circumference;
+float degreesLeft = rotationsLeft * 360;
+int encoderCountsLeft = degreesLeft * 4;
+
+task main() //This will only give us the required number on the encoders for a 180 degree turn
+{
+
+	if (vexRT[Btn8D] == 1)
+	{
+		// We will reset the motor encoder values here so we don't screw anything up
+		nMotorEncoder[frontRight] = 0;
+		nMotorEncoder[frontLeft] = 0;
+
+		if (nMotorEncoder[frontRight] >= encoderCountsRight && nMotorEncoder[frontLeft] >= encoderCountsLeft)
+		{
+			motor[frontRight] = 0;
+			motor[frontLeft] = 0;
+			motor[backRight] = 0;
+			motor[backLeft] = 0;
+		}
+
+		else
+		{
+			motor[frontRight] = 127;
+			motor[frontLeft] = -127;
+			motor[backRight] = 127;
+			motor[backLeft] = -127;
+		}
+	}
+
+}

180_Degree_Turn.c

@@ -0,0 +1,52 @@
+#pragma config(I2C_Usage, I2C1, i2cSensors)
+#pragma config(Sensor, I2C_1,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
+#pragma config(Motor,  port2,           frontRight,    tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_1)
+#pragma config(Motor,  port3,           frontLeft,     tmotorVex393_MC29, openLoop, encoderPort, I2C_1)
+#pragma config(Motor,  port4,           backRight,     tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port5,           backLeft,      tmotorVex393_MC29, openLoop)
+//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
+
+task main() {
+	// Check this link for encoder help http://www.robotc.net/blog/2012/03/07/programming-with-the-new-vex-integrated-motor-encoders/
+	float diameter = 4; // Change this value to the diameter of the wheel. All of these distances should be in inches. Do not change these values on accident!!!
+	float circumference = PI * diameter; // This calculates the circumference of the wheel fast and easy!
+
+	// This is the code for the right wheel
+	int distanceToGoRight = 17.875; // This is how far we want the robot to go during certain autonomous periods. You can change only this line, nothing else!
+	float rotationsRight = distanceToGoRight / circumference;
+	int degreesToTurnRight = rotationsRight * 360;
+	int encoderCountsRight = degreesToTurnRight * 4; // The encoder counts in quarters of a degree, not a full degree
+
+	// This is the code for the left wheel
+	int distanceToGoLeft = -17.875;
+	float rotationsLeft = distanceToGoLeft / circumference;
+	int degreesLeft = rotationsLeft * 360;
+	int encoderCountsLeft = degreesLeft * 4;
+
+	// Reset all the encoder values so we make sure our robot functions properly
+	nMotorEncoder[frontRight] = 0;
+	nMotorEncoder[frontLeft] = 0;
+
+	// Set the targets for each of the encoders
+	nMotorEncoder[frontRight] = encoderCountsRight;
+	nMotorEncoder[frontLeft] = encoderCountsLeft;
+
+	if (vexRT[Btn5U] == 1)
+	{
+		// Run the motors until they have reached their values
+		if (nMotorEncoder[frontRight] != runStateIdle && nMotorEncoder[frontLeft] != runStateIdle)
+		{
+			// We are wating for idk
+		}
+		else
+		{
+			motor[frontRight] = 127;
+			motor[frontLeft] = -127;
+		}
+	}
+	else
+	{
+		motor[frontRight] = 0;
+		motor[frontLeft] = 0;
+	}
+}