Zen42 for Teleop without FCS

l#pragma config(Hubs, S1, HTMotor, HTServo, HTMotor, none)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Sensor, S2, touchtop, sensorTouch)
#pragma config(Sensor, S3, touchbottom, sensorTouch)
#pragma config(Sensor, S4, HTSMUX, sensorI2CCustom)
#pragma config(Motor, mtr_S1_C1_1, motorE, tmotorTetrix, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C1_2, motorD, tmotorTetrix, PIDControl, reversed, encoder)
#pragma config(Motor, mtr_S1_C3_1, motorF, tmotorTetrix, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C3_2, motorG, tmotorTetrix, openLoop)
#pragma config(Servo, srvo_S1_C2_1, servo1, tServoStandard)
#pragma config(Servo, srvo_S1_C2_2, servo2, tServoStandard)
#pragma config(Servo, srvo_S1_C2_3, servo3, tServoNone)
#pragma config(Servo, srvo_S1_C2_4, servo4, tServoNone)
#pragma config(Servo, srvo_S1_C2_5, servo5, tServoNone)
#pragma config(Servo, srvo_S1_C2_6, servo6, tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Tele-Operation Mode Code Template
//
// This file contains a template for simplified creation of an tele-op program for an FTC
// competition
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c" //Include file to "handle" the Bluetooth messages.
#include "hitechnic-sensormux.h" //Driver for Sensor Multiplexer by HiTechnic
#include "hitechnic-irseeker-v2.h" //Driver for IRSeeker
#include "drivers/lego-ultrasound.h" //Driver for Ultrasonic Sensor By Lego
#include "lego-touch.h" // Driver for both Touch Sensors from Lego

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// initializeRobot
//
// Prior to the start of tele-op mode, you may want to perform some initialization on your robot
// and the variables within your program.
//
// In most cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

//void initializeRobot()
//{
// //Place code here to initialize servos to starting positions.
// //Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.

// return;
//}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Main Task
//
// The following is the main code for the tele-op robot operation. Customize as appropriate for
// your specific robot.
//
// Game controller / joystick information is sent periodically (about every 50 milliseconds) from
// the FMS (Field Management System) to the robot. Most tele-op programs will follow the following
// logic:
// 1. Loop forever repeating the following actions:
// 2. Get the latest game controller / joystick settings that have been received from the PC.
// 3. Perform appropriate actions based on the joystick + buttons settings. This is usually a
// simple action:
// * Joystick values are usually directly translated into power levels for a motor or
// position of a servo.
// * Buttons are usually used to start/stop a motor or cause a servo to move to a specific
// position.
// 4. Repeat the loop.
//
// Your program needs to continuously loop because you need to continuously respond to changes in
// the game controller settings.
//
// At the end of the tele-op period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{
//initializeRobot();

//waitForStart(); // wait for start of tele-op phase

while (true)
{
const float MAX_JOY_VAL = 127.0;
const int MAX_MOTOR_VAL = 100;
int MotorPercentLeft = 0;
int MotorPercentRight = 0;
int threshold = 5; /* Int 'threshold' will allow us to ignore low */
/* readings that keep our robot in perpetual motion. */
{




getJoystickSettings(joystick);
if(abs(joystick.joy1_y2) > threshold) // If the right analog stick's Y-axis readings are either above or below the threshold:
{
MotorPercentLeft = (joystick.joy1_y2/MAX_JOY_VAL)*MAX_MOTOR_VAL;
motor[motorD] = MotorPercentLeft/2;
}
else // Else if the readings are within the threshold:

{
motor[motorD] = 0; // Motor D is stopped with a power level of 0.
}
if(abs(joystick.joy1_y1) > threshold) // If the right analog stick's Y-axis readings are either above or below the threshold:
{
MotorPercentRight = (joystick.joy1_y1/MAX_JOY_VAL)*MAX_MOTOR_VAL;
motor[motorE] = MotorPercentRight/2;
}
else // Else if the readings are within the threshold:

{
motor[motorE] = 0; // Motor D is stopped with a power level of 0.
}





if(joy1Btn(6)) // If Button 5 is pressed:
{
servo[servo1] = 38; // Raise Servo 1 to position 38.
}

if(joy1Btn(5)) // If Button 6 is pressed:
{
servo[servo1] = 165; // Lower Servo 1 to position 165.
}

if(joy1Btn(2)) // If Button 2 is pressed:
{
servo[servo2] = 15; // Raise Servo 2 to position 15.
}

if(joy1Btn(4)) // If Button 4 is pressed:
{
servo[servo2] = 215; // Lower Servo 2 to position 215.
}
if(joy1Btn(7)) // If Button 7 is pressed:
{
motor[motorB] = -100; // Move the flag motor at 100% backward
}
if(joy1Btn(8)) // If Button 8 is pressed:
{
motor[motorB] = 100; // Move the flag motor at 100% forward
}
if(joy1Btn(7)== 0 && joy1Btn(8) == 0) // If NEITHER Button 7 or 8 is pressed:
{
motor[motorB] = 0; // Stop MOTOR B
}
//if(joy1Btn(11)== 1 && joy1Btn(12) == 1)
//{
// motor[motorB] = 0;
// motor[motorD] = 0;
// motor[motorE] = 0;
// motor[motorF] = 0;
//}

if(joystick.joy1_TopHat == 0) //If the TOPHAT Switch is pressed UP AND the TOP touch sensor is NOT being pressed:
{
if(SensorValue(touchtop) == 0)
{
motor[motorF] = 80; // Move the Arm motor UP at 80% power
}
else
{
motor[motorF] = 0;
}
}

if(joystick.joy1_TopHat == 4) //If the TOPHAT Switch is pressed DOWN AND the BOTTOM touch sensor is NOT being pressed:
{
if(SensorValue(touchbottom) == 0)
{
motor[motorF] = -80; // Move the Arm motor DOWN at 80% power
}
else
{
motor[motorF] = 0;
}
}

if(joystick.joy1_TopHat == -1) //If the TOPHAT Switch is NOT BEING PRESSED
{
motor[motorF] = 0; // Stop the Motor
}
}
}
}