#define LEFT_WHEELS_PORT 1
#define RIGHT_WHEELS_PORT 10
#define SPIN_PORT 3

void opcontrol() {
  pros::Motor left_wheels (LEFT_WHEELS_PORT);
  pros::Motor right_wheels (RIGHT_WHEELS_PORT, true);
  pros::Motor arm (SPIN_PORT, MOTOR_GEARSET_36); // The arm motor has the 100rpm (red) gearset
  pros::Controller master (CONTROLLER_MASTER);

  while (true) {
    int power = master.get_analog(ANALOG_LEFT_Y);
    int turn = master.get_analog(ANALOG_RIGHT_X);
    int left = power + turn;
    int right = power - turn;
    left_wheels.move(left);
    right_wheels.move(right);

    if (master.get_digital(DIGITAL_R1)) {
      spin.move_velocity(600); // This is 600 because it's a 600rpm motor
    }
    else if (master.get_digital(DIGITAL_R2)) {
      spin.move_velocity(-600);
    }
    else {
      spin.move_velocity(0);
    }

    pros::delay(2);
  }
}