vex drive.iqcpp

//----------------------------------------------------------------------------
//                                                                            
//    Module:       main.cpp                                                  
//    Author:       {author}                                                  
//    Created:      {date}                                                    
//    Description:  IQ project                                                
//                                                                            
//----------------------------------------------------------------------------

// Include the IQ Library
#include "iq_cpp.h"

// Allows for easier use of the VEX Library

using namespace vex;
float armspeed = 100; //constant float variable
bool driveReversed;
void ToggleDriveDirection()
{
  driveReversed = !driveReversed;
}
void SetRiser(bool on, bool up)
{
  if(on)
  {
    if(up)
    {
armDrive1.setVelocity(armspeed, percent); //Setvelocity = speed, armDrive and armspeed are floats
     armDrive1.spin(forward); //spin forward
     armDrive3.setVelocity(armspeed, percent);
     armDrive3.spin(forward);
    }
    else
    {
 armDrive1.setVelocity(armspeed, percent);
     armDrive1.spin(reverse);//spin reverse
     armDrive3.setVelocity(armspeed, percent);
     armDrive3.spin(reverse);
    }
  }
  else {
     armDrive1.setVelocity(1,percent);
     armDrive1.spin(forward);
     armDrive3.setVelocity(1,percent);
     armDrive3.spin(forward);
  }
}
void Auton() //Autonomous mode
{
  Drivetrain.turnFor(left, 69, degrees); //Setup Drivetrain in Devices menu, then you can do these statements
  Drivetrain.driveFor(forward, 420, mm);
  SetRiser(true, true); // Turn riser on up
    SetRiser(true, true); // Turn riser on down
  SetRiser(false, true); // Turn riser off, second bool does not matter when first is false
}
int main() {
  Controller.ButtonEUp.pressed(ToggleDriveDirection);

float drivespeed = 100;
int counter = 0;


  while(true)
  {
    
   leftMotorA.spin(forward, driveReversed ? -Controller.AxisA.position() : Controller.AxisA.position(), percent);//These are for easier reverse of the remote
   rightMotorA.spin(forward, driveReversed ? -Controller.AxisD.position() : Controller.AxisD.position(), percent);
   leftMotorB.spin(forward, driveReversed ? -Controller.AxisA.position() : Controller.AxisA.position(), percent);
   rightMotorB.spin(forward, driveReversed ? -Controller.AxisD.position() : Controller.AxisD.position(), percent);


 if (Controller.ButtonRUp.pressing()) //If The Button *x* On Controller is Pressed
   {
     armDrive1.setVelocity(armspeed, percent);
     armDrive1.spin(forward);
     armDrive3.setVelocity(armspeed, percent);
     armDrive3.spin(forward);
   }
   else if (Controller.ButtonRDown.pressing()) //Also if the Button *x* On Controller is Pressed
   {
   {
     armDrive1.setVelocity(armspeed, percent);
     armDrive1.spin(reverse);
     armDrive3.setVelocity(armspeed, percent);
     armDrive3.spin(reverse);
   }
   else //Anything else apart from the if and else if statements
   {
     armDrive1.setVelocity(1,percent);
     armDrive1.spin(forward);
     armDrive3.setVelocity(1,percent);
     armDrive3.spin(forward);
   }  
   wait(0.1,seconds);
 }
  wait(0.1,seconds);
 }