main.c

#pragma config(Sensor, in1,    powerExpander,  sensorAnalog)
#pragma config(Sensor, dgtl1,  rDriveEncoder,  sensorQuadEncoder)
#pragma config(Sensor, dgtl5,  rLiftEncoder,   sensorQuadEncoder)
#pragma config(Sensor, dgtl7,  lLiftEncoder,   sensorQuadEncoder)
#pragma config(Sensor, dgtl9,  dumpSolenoid,   sensorDigitalOut)
#pragma config(Sensor, dgtl10, skySolenoid,    sensorDigitalOut)
#pragma config(Sensor, dgtl11, lDriveEncoder,  sensorQuadEncoder)
#pragma config(Motor,  port1,           driveRF,       tmotorVex393HighSpeed_HBridge, openLoop, encoderPort, dgtl1)
#pragma config(Motor,  port2,           driveRB,       tmotorVex393HighSpeed_MC29, openLoop, reversed, encoderPort, dgtl1)
#pragma config(Motor,  port3,           liftRB,        tmotorVex393_MC29, openLoop, encoderPort, dgtl7)
#pragma config(Motor,  port4,           liftLB,        tmotorVex393_MC29, openLoop, reversed, encoderPort, dgtl7)
#pragma config(Motor,  port5,           liftLC,        tmotorVex393_MC29, openLoop, reversed, encoderPort, dgtl7)
#pragma config(Motor,  port6,           liftRC,        tmotorVex393_MC29, openLoop, encoderPort, dgtl5)
#pragma config(Motor,  port7,           liftRA,        tmotorVex393_MC29, openLoop, reversed, encoderPort, dgtl5)
#pragma config(Motor,  port8,           liftLA,        tmotorVex393_MC29, openLoop, encoderPort, dgtl5)
#pragma config(Motor,  port9,           driveLB,       tmotorVex393HighSpeed_MC29, openLoop, encoderPort, dgtl11)
#pragma config(Motor,  port10,          driveLF,       tmotorVex393HighSpeed_HBridge, openLoop, reversed, encoderPort, dgtl11)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

//Reversed: driveRB, liftRA, liftLB, liftLC

#pragma platform(VEX)

#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)

#include "Vex_Competition_Includes.c"
#include "SmartMotorLib.c"
#include "drive.c"
#include "arm.c"
#include "general.c"
#include "auton.c"

void pre_auton()
{
	bStopTasksBetweenModes = false;
  init();
}

task autonomous()
{
  init();
  auton();
}

task usercontrol()
{
	init();
	while (true)
	{
		userControl(false, false); //(isArcade, isPID)
	}
}