2MotorCompetition.c

#pragma config(Motor,  port2,           leftMotor, tmotorNormal, openLoop,)
#pragma config(Motor,  port3,           rightMotor, tmotorNormal, openLoop, reversed)
#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)

#include "Vex_Competition_Includes.c"   //Main competition background code...do not modify!

/////////////////////////////////////////////////////////////////////////////////////////
//
//                          Pre-Autonomous Functions
//
//			INITALIZE FUNCTIONS FOR AUTONOMOUS pre_auton FUNCTION HERE
//
/////////////////////////////////////////////////////////////////////////////////////////

void pre_auton()
{
  // Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
  // Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
  bStopTasksBetweenModes = true;

	// All activities that occur before the competition starts
  	// Such as resetting motor encoder values, setting motors to specific positions
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 Autonomous Task
//
// This task is used to control your robot during the autonomous phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////

task autonomous()
{
  // .....................................................................................
  // Insert user code here.
  // .....................................................................................
  //AutonomousCodePlaceholderForTesting();  // Remove this function call once you have "real" code.
}


// Vex Controler Joystick and button list
  // Right Joystick X axis movement is on Ch1
  // Right Joystick Y axis movement is on Ch2
  // Left Joystick X axis movement is on Ch3
  // Left Joystick Y axis movement is on Ch4
  // Right Keypad buttons are [Btn8U], [Btn8R], [Btn8D] or [Btn8L] with (U,R,D,L) corresponding to Up, Right, Down and Left
  // Left Keypad buttons are [Btn7U], [Btn7R], [Btn7D] or [Btn7L]
  // Right Trigger buttons are [Btn6U] and [Btn6D] with U and D corresponding to Up and Down
  // Left  Trigger buttons are [Btn5U] and [Btn5D]

task usercontrol()
{
	// Put User control code in the loop below, so that it runs perpetually

	while (true) //While 1 == 1 would also work here. Just saying. 
	{

	//Slightly more complex Tank Controls code

    motor[leftMotor] = (vexRT[Ch4] + vexRT[Ch3])/2; //(y channel + x channel)/2
    motor[rightMotor] = (vexRT[Ch2] - vexRT[Ch1])/2; //(y channel - x channel)/2

	}
}