MecanumChassis.c

#pragma config(Motor,  port2,           frontRight,    tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor,  port3,           frontLeft,     tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port8,           backLeft,      tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port9,           backRight,     tmotorServoContinuousRotation, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*+++++++++++++++++++++++++++++++++++++++++++++| Notes |++++++++++++++++++++++++++++++++++++++++++++++
Mecanum Drive - Basic with Deadzones by Ada Tessar
(current code just makes the victor 888s sound awful with all the tiny pwm inputs they're trying to
use when the controller isnt being driven)

[I/O Port]          [Name]              [Type]                [Description]
Motor Port 2        frontRight          Victor 888            Front Right motor
Motor Port 3        backRight           Victor 888            Back Right motor
Motor Port 5        frontLeft           Victor 888            Front Left motor
Motor Port 6        backLeft            Victor 888            Back Left motor
----------------------------------------------------------------------------------------------------*/

task main()
{
  int deadzone = 15; // Define the deadzone threshold

  // Loop Forever
  while(1 == 1)
  {
    // Apply deadzone logic
    int y = abs(vexRT[Ch3]) > deadzone ? -vexRT[Ch3] : 0; // Forward/backward
    int x = abs(vexRT[Ch4]) > deadzone ? vexRT[Ch4] : 0; // Strafing
    int rotation = abs(vexRT[Ch1]) > deadzone ? vexRT[Ch1] : 0; // Rotation

    // Remote Control Commands
    motor[frontRight] = y - rotation - x;
    motor[backRight] =  y - rotation + x;
    motor[frontLeft] = y + rotation + x;
    motor[backLeft] =  y + rotation - x;
  }
}