timeout removal

diff --git a/vexuser.cpp b/vexuser.cpp
index 880554eaaec5e62a9625462a75fae1f22540de7a..7b4ca6953e2e40c983ca1c0a6fa87c1c02135072 100644 (file)
--- a/vexuser.cpp
+++ b/vexuser.cpp
@@ -205,25 +205,25 @@ msg_t vexLiftTask(void *arg)
 \r
        vexTaskRegister("lcdtask");\r
 \r
-       static int timeout = -1;\r
+       //static int timeout = -1;\r
        while (!chThdShouldTerminate()) {\r
                int actual = vexEncoderGet(kVexQuadEncoder_1);\r
                int diff = liftTargetLoc - actual;\r
-               int speed;\r
+               int speed = 0; \r
                if (diff != 0) {\r
-                       speed = 2 * diff;\r
-\r
-                       if (timeout == -1)\r
+                       /*if (timeout == -1)\r
                                timeout = 10;\r
                        else if (timeout > 0)\r
                                timeout--;\r
                        else\r
-                               diff++;\r
+                               diff *= 2;*/\r
+\r
+                       speed = 2 * diff;\r
                } else {\r
-                       timeout = -1, speed = 0;\r
+                       /*timeout = -1,*/ speed = 0;\r
                }\r
 \r
-               vexLcdPrintf(0, 1, "%4d | %4d", actual, speed);\r
+               //vexLcdPrintf(0, 1, "A%02d T%02d S%d", actual, timeout, speed);\r
                vexMotorSet(mLiftLowLeft,   speed);\r
                vexMotorSet(mLiftHighLeft,  speed);\r
                vexMotorSet(mLiftLowRight,  speed);\r
@@ -261,6 +261,15 @@ msg_t vexOperator(void *arg)
                else if (vexControllerGet(Btn5D))\r
                        liftTargetLoc -= 5;\r
 \r
+               if (vexControllerGet(Btn8D))\r
+                       liftTargetLoc = 0;\r
+               else if (vexControllerGet(Btn8L))\r
+                       liftTargetLoc = 30;\r
+               else if (vexControllerGet(Btn8R))\r
+                       liftTargetLoc = 60;\r
+               else if (vexControllerGet(Btn8U))\r
+                       liftTargetLoc = 90;\r
+\r
                int claw = (vexControllerGet(Btn6U) ? 127 : (vexControllerGet(Btn6D) ? -127 : 0));\r
                vexMotorSet(mClaw, claw);\r
 \r