Volt Drive

the drive Function

void DriveVolts(double lspeed, double rspeed, double multiplier, int wt) 
{
  lspeed=lspeed*120*multiplier;
  rspeed=rspeed*120*multiplier;
  LeftFront.spin(forward,lspeed,voltageUnits::mV);
  LeftMiddle.spin(forward,lspeed,voltageUnits::mV);
  LeftBack.spin(forward,lspeed,voltageUnits::mV);
  RightFront.spin(forward,rspeed,voltageUnits::mV);
  RightMiddle.spin(forward,rspeed,voltageUnits::mV);
  RightBack.spin(forward,rspeed,voltageUnits::mV);
  task::sleep(wt);
}

for HandLoading

 if(catDown==true){
      CatapultL.spin(forward, 0, pct);
      CatapultR.spin(forward, 0, pct);
  
    }
    else{
      CatapultL.spin(forward, catspeed, pct);
      CatapultR.spin(forward, catspeed, pct);
      DriveVolts(-10, -10, 1, 200);
    }