timeout removal

1 files changed, 17 insertions, 8 deletions

diff --git a/vexuser.cpp b/vexuser.cpp
index 880554e..7b4ca69 100644
--- a/vexuser.cpp
+++ b/vexuser.cpp
@@ -205,25 +205,25 @@ msg_t vexLiftTask(void *arg)
 

 	vexTaskRegister("lcdtask");

 

-	static int timeout = -1;

+	//static int timeout = -1;

 	while (!chThdShouldTerminate()) {

 		int actual = vexEncoderGet(kVexQuadEncoder_1);

 		int diff = liftTargetLoc - actual;

-		int speed;

+		int speed = 0; 

 		if (diff != 0) {

-			speed = 2 * diff;

-

-			if (timeout == -1)

+			/*if (timeout == -1)

 				timeout = 10;

 			else if (timeout > 0)

 				timeout--;

 			else

-				diff++;

+				diff *= 2;*/

+

+			speed = 2 * diff;

 		} else {

-			timeout = -1, speed = 0;

+			/*timeout = -1,*/ speed = 0;

 		}

 

-		vexLcdPrintf(0, 1, "%4d | %4d", actual, speed);

+		//vexLcdPrintf(0, 1, "A%02d T%02d S%d", actual, timeout, speed);

 		vexMotorSet(mLiftLowLeft,   speed);

 		vexMotorSet(mLiftHighLeft,  speed);

 		vexMotorSet(mLiftLowRight,  speed);

@@ -261,6 +261,15 @@ msg_t vexOperator(void *arg)
 		else if (vexControllerGet(Btn5D))

 			liftTargetLoc -= 5;

 

+		if (vexControllerGet(Btn8D))

+			liftTargetLoc = 0;

+		else if (vexControllerGet(Btn8L))

+			liftTargetLoc = 30;

+		else if (vexControllerGet(Btn8R))

+			liftTargetLoc = 60;

+		else if (vexControllerGet(Btn8U))

+			liftTargetLoc = 90;

+

 		int claw = (vexControllerGet(Btn6U) ? 127 : (vexControllerGet(Btn6D) ? -127 : 0));

 		vexMotorSet(mClaw, claw);