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#include <main.h>
void lcdUpdateFunc(void *);
void operatorControl(){
static char lift;
zLCDStart();
zLCDSetUpdateFunc(lcdUpdateFunc);
while(1){
/*
* Handle drive controls and update drive motor speeds.
*/
zDriveUpdate();
// Set the rotating motor speed.
zMotorSet("ROTATER",-zJoyAnalog(2,1)/4);
// Set the intake's speed.
zMotorSet("INTAKE",zGetDigitalMotorSpeed(1,6,JOY_UP,JOY_DOWN,127));
// Set the lift's speed.
lift=zGetDigitalMotorSpeed(2,6,JOY_UP,JOY_DOWN,127);
zMotorSet("LIFT1",lift);
zMotorSet("LIFT2",lift);
delay(10); // Short delay to allow task switching
}
}
void lcdUpdateFunc(void *unused_param){
static double liftIME;
liftIME = (zMotorIMEGetVelocity("LIFT1") - zMotorIMEGetVelocity("LIFT2")) / 2 / 16.3333125L;
zLCDWrite(1,"%.3lf",liftIME);
}
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