#pragma config(Motor,  motorA,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorB,          rightMotor,    tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorC,          leftMotor,     tmotorNXT, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*

                                U P   A N D   B A C K
                                     Ron Kessler
                                  Created 8/8/2018

Updated 8/10/2018


PURPOSE: Shows how to make motors go Straight for a specific distance
and also use "speed control" to maintain correct speed up/down hills.

We will also name our motors to make code easier to manage.
The motors have rotation sensors that tell how far it has moved. We
will use that feature to make the bot move an exact distance.


STEP 1: Select Robot | Motors and Sensors Setup
				In the motors dialog set up motors for our bots
				Set motor A to none
				Set motor b to "rightMotor"
				Set motor c to "leftMotor"
				Make sure PID is checked
				Now, you will see compiler directives added to the top of our code.
				If the motors are backwards on your bot, then check "reversed".

*/



task main()
{
	//---always reset the motor controllers first using the nMotorEncoder command.
	nMotorEncoder[leftMotor] = 0;
	nMotorEncoder[rightMotor] = 0;

	//---now set how far to make the wheels rotate. This is always in degrees of rotation.
	//		So let's say we want it to go 5 rotations, then distance will be 5 * 360 = 1800

	//---set the encoder target property to 1800 degrees.
	nMotorEncoderTarget[leftMotor] = 1800;
	nMotorEncoderTarget[rightMotor] = 1800;

	//---now run motors forward at 35%
	motor[leftMotor] = 35;
	motor[rightMotor] = 35;

	wait1Msec(10000);				//10 seconds to give motors a chance to complete 5 rotations





	//********************************************
	//---now make it back up
	//---reset the motor encoder again.
	nMotorEncoder[leftMotor] = 0;
	nMotorEncoder[rightMotor] = 0;
	//---set the encoder target property to 1800 degrees again.
	nMotorEncoderTarget[leftMotor] = 1800;
	nMotorEncoderTarget[rightMotor] = 1800;


	//---now run motors backwards at 35%
	motor[leftMotor] = -35;
	motor[rightMotor] = -35;

	wait1Msec(10000);				//10 seconds to get back to where it started
}
//Now do Challenge 1.1 Dead Recockoning