2SensorAuto.c

#pragma config(Sensor, dgtl2,  irLeft,         sensorDigitalIn)
#pragma config(Sensor, dgtl3,  irRight,        sensorDigitalIn)
#pragma config(Motor,  port2,           motorLeft,     tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port3,           servo,         tmotorServoStandard, openLoop)
#pragma config(Motor,  port9,           motorRight,    tmotorServoContinuousRotation, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

int getIrReading(tSensors irReceiverPin)
{
		wait1Msec(1);
		int ir = SensorValue[irReceiverPin];
		wait1Msec(1);
		return ir;
}

task main()
{
	while (true)
	{
		
		if(vexRT[Btn7U] == 1){
			motor[servo] = -128;
		}
		else if(vexRT[Btn7D] == 1){
			motor[servo] = 128;
		}

		motor[motorLeft] = vexRT[Ch3];//Left Joystick Up/Down
		motor[motorRight] = vexRT[Ch2];//Right Joystick Up/Down

		//motor[motorLeft] = (vexRT[Ch3])(vexRT[Ch3]) * 100;
		//motor[motorRight] = (-(vexRT[Ch3])(vexRT[Ch3]) * 100;
		
		if (vexRT[Btn8D] == 1)
		{
			while (true)
			{
				if (getIrReading(irLeft) == 1 && getIrReading(irRight) == 1)
				{
					motor[motorLeft] = 50;
					motor[motorRight] = 50;
				}
				else if (getIrReading(irLeft) == 0)
				{
					motor[motorLeft] = -30;
					motor[motorRight] = 30;
				}
				else if (getIrReading(irRight) == 0)
				{
					motor[motorLeft] = 30;
					motor[motorRight] = -30;
				}
			}
		}
	}
}