Pre-comp2 code.c

#pragma config(Motor,  port2,           motor1,        tmotorVex393_MC29, openLoop, driveLeft)
#pragma config(Motor,  port3,           motor2,        tmotorVex393_MC29, openLoop, driveLeft)
#pragma config(Motor,  port4,           motor3,        tmotorVex393_MC29, openLoop, reversed, driveRight)
#pragma config(Motor,  port5,           motor4,        tmotorVex393_MC29, openLoop, reversed, driveRight)
#pragma config(Motor,  port6,           ball_motor5,   tmotorVex269_MC29, openLoop)
#pragma config(Motor,  port7,           launcy_boi,    tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           shooter_angle, tmotorServoStandard, openLoop)
#pragma config(Motor,  port9,           cap_flipper,   tmotorServoStandard, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

// Vex Team 45501E
// ports 2&3 are left, ports 4&5 are right, port5 is for capture mechanism

// 6U is Intake, 5U is spit, and 5D & 6D are stop
// 8D is pull
// 7L and 7D adjust angle
// 8U and 8L are cap flip

#pragma platform(VEX)
// Competition Control
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#pragma userControlDuration(120)
#include "Vex_Competition_Includes.c"   //Main competition background code...do not modify!

int ball_loader;
int ball_launch;
int launch_angle;
int cap_toss;
int servo_slow;

void pre_auton()
{
	bStopTasksBetweenModes = true;
}

task autonomous()
{
	motor[port2] = 127;
	motor[port3] = 127;
	motor[port4] = 127;
	motor[port5] = 127;
	wait(2, seconds);
	motor[port2] = -127;
	motor[port3] = -127;
	motor[port4] = -127;
	motor[port5] = -127;
	wait(1860, milliseconds);
	startTask(usercontrol);
}

task usercontrol()
{
	cap_toss = 120;
	while ( 1 == 1 )
	{
		//Drive
		tankControl(Ch2, Ch3, 10);

		// Autonomous Start and Tele-op Stop
		if(vexRT[Btn7U] == 1)
		{
			startTask(autonomous);
			stopTask(usercontrol);
		}

		// Ball Spinny Thing (BPU)
		// 6U is Intake, 5U is spit, and 5D & 6D are stop
		// Normal rotation
		if(vexRT[Btn6U] == 1)
		{
			ball_loader = 127;
		}
		else if(vexRT[Btn6D] == 1)
		{
			ball_loader = 0;
			ball_launch = 0;
		}

		// Reversed Rotation
		else if(vexRT[Btn5U] == 1)
		{
			ball_loader = -127;
		}
		else if(vexRT[Btn5D] == 1)
		{
			ball_loader = 0;
			ball_launch = 0;
		}

		motor[port6] = ball_loader;

		// Ball Launch Start
		// 8D is pull
		if(vexRT[Btn8D] == 1)
		{
			ball_launch = 127;
		}
		motor[port7] = ball_launch;

		// Ball launch angle servo
		// 7L and 7D adjust angle
		if(vexRT[Btn7L] == 1)
		{
			servo_slow = servo_slow + 1;
			if(servo_slow > 30)
			{
				servo_slow = 0;
				if(launch_angle < 127)
				{
					launch_angle = launch_angle + 1;
				}
				if(launch_angle > 127)
				{
					launch_angle = 120;
				}
			}
		}
		else if(vexRT[Btn7D] == 1)
		{
			servo_slow = servo_slow + 1;
			if(servo_slow > 30)
			{
				servo_slow = 0;
				if(cap_toss > -127)
				{
					launch_angle = launch_angle -1;
				}
				if(launch_angle < -127)
				{
					launch_angle = -120;
				}
			}
		}
		motor[port8] = launch_angle;

		// Cap flippin' servo
		// 8U and 8L are cap flip
		if(vexRT[Btn8U] == 1)
		{
			cap_toss = 128;
		}
		else if(vexRT[Btn8L] == 1)
		{
			cap_toss = 0;
		}
		motor[port9] = cap_toss;
		wait(50, milliseconds);
	}
}