VEX V5 - Driver Control

The Code

First we need to tell the code how the hardware is configured. This is like the motor and sensor setup in RobotC

brain Brain;
controller Controller = controller();
motor RMotor = motor(PORT1,true);
motor LMotor = motor(PORT2,false);

#include "robot-config.h" 

a custom function called Drive is written:

void Drive(int lspeed, int rspeed, int wt) 
{
    LMotor.spin(forward,lspeed,pct);
    RMotor.spin(forward,rspeed,pct);
    task::sleep(wt);
}

We initialize some global variables:

int lspeed=0;
int rspeed=0;

lspeed and rspeed will be the speed of the two drive motors.

    lspeed=Controller.Axis3.position(pct);
    rspeed=Controller.Axis2.position(pct);

lspeed and rspeed are set by sensing the position of the joysticks on the controller. Here we read Axis3 and Axis2 as a percentage (pct). So pushed full forward is 100%, full backward is -100%. Calling the Drive function :

 Drive(lspeed, rspeed, 10);

here is the complete main code:

#include "robot-config.h"

void Drive(int lspeed, int rspeed, int wt) 
{
    LMotor.spin(forward,lspeed,pct);
    RMotor.spin(forward,rspeed,pct);
    task::sleep(wt);
}

int main() {
    int lspeed=0; 
    int rspeed=0;
    while(true)
    {  
    lspeed=Controller.Axis3.position(pct);
    rspeed=Controller.Axis2.position(pct);
    Drive(lspeed, rspeed, 10);
        
    }

}