BenMCode.c

#pragma config(Motor,  port3,           leftwheel,     tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor,  port4,           rightwheel,    tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor,  port6,           test1,         tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port7,           test2,         tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port8,           base,          tmotorServoStandard, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main(){


	while(true){

			motor[port7] = vexRT[Ch2];
			motor[port6] = vexRT[Ch3] / 2;

			if(vexRT[Btn5D]){
				motor[port4] = -127;
			} else if (vexRT[Btn5U]) {
				motor[port4] = 127;
			} else if(vexRT[Btn7U]){
				motor[port4] = -50;
			} else if (vexRT[Btn7D]) {
				motor[port4] = 50;
			} else {
				motor[port4] = 0;
			}

			if(vexRT[Btn6D]){
				motor[port3] = -127;
			} else if (vexRT[Btn6U]) {
				motor[port3] = 127;
			} else if(vexRT[Btn8U]){
				motor[port3] = -50;
			} else if (vexRT[Btn8D]) {
				motor[port3] = 50;
			} else {
				motor[port3] = 0;
			}

			if(vexRT[Btn8R]){
				motor[port8] = 127;
			}
			if(vexRT[Btn7L]){
				motor[port8] = -127;
 		}
	}
}