car.c

#pragma config(Motor, port2, throw,  tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port7, rmotor, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port9, lmotor, tmotorServoContinuousRotation, openLoop)
#define MAX_SENS 5
#define THROW_SPEED -127

int speed_axis = 0, steer_axis = 0;

int bound(int n) {
    return (n > 127 ? 127 : (n < -127 ? -127 : n));
}
task update_axes() {
		speed_axis = vexRT[Ch3];
    steer_axis = vexRT[Ch1];
}
task update_motors() {
    bool reverse = speed_axis < 0;
    int sum = bound(speed_axis + steer_axis);
    int diff = bound(speed_axis - steer_axis);
    motor[lmotor] = (reverse ? diff : sum);
    motor[rmotor] = (reverse ? sum : diff) * -1;
}
task launch() {
    motor[throw] = THROW_SPEED;
    waitInMilliseconds(100);
    motor[throw] = THROW_SPEED * -1;
    waitInMilliseconds(100);
    motor[throw] = 0;
}
task update_remote() {
		if(vexRT[Btn5U] == 1) { startTask(launch); }
}
task main(){
		for(;;){
    		startTask(update_axes);
    		startTask(update_motors);
    		startTask(update_remote);
		}
}