Here is the whole code
#include "robot-config.h"
/*---------------------------------------------------------------------------*/
/*                                                                           */
/*        Description: Competition template for VCS VEX V5                   */
/*                                                                           */
/*---------------------------------------------------------------------------*/

//Creates a competition object that allows access to Competition methods.
vex::competition    Competition;

/*---------------------------------------------------------------------------*/
/*                          Pre-Autonomous Functions                         */
/*                                                                           */
/*  You may want to perform some actions before the competition starts.      */
/*  Do them in the following function.  You must return from this function   */
/*  or the autonomous and usercontrol tasks will not be started.  This       */
/*  function is only called once after the cortex has been powered on and    */
/*  not every time that the robot is disabled.                               */
/*---------------------------------------------------------------------------*/

void pre_auton( void ) {
   
    Dr.setVelocity(100,velocityUnits::pct);
    Dl.setVelocity(100,velocityUnits::pct;)
    Bl.setVelocity(100,velocityUnits::pct);
    Bl.setMaxTorque(50,percentUnits::pct);
    Dr.setMaxTorque(127,percentUnits::pct);
    Dl.setMaxTorque(127,percentUnits::pct);
    Cll.setVelocity(90,velocityUnits::pct);
    Clr.setVelocity(90,velocityUnits::pct);
    Cll.setMaxTorque(127,percentUnits::pct);
    Clr.setMaxTorque(127,percentUnits::pct);
    Fwl.setVelocity(127,velocityUnits::pct);
    Fwr.setVelocity(127,velocityUnits::pct);
    Lss.setVelocity(50,velocityUnits::pct);
    Lss.setMaxTorque(127,percentUnits::pct);
  //set speed
   
}

/*---------------------------------------------------------------------------*/
/*                                                                           */
/*                              Autonomous Task                              */
/*                                                                           */
/*  This task is used to control your robot during the autonomous phase of   */
/*  a VEX Competition.                                                       */
/*                                                                           */
/*  You must modify the code to add your own robot specific commands here.   */
/*---------------------------------------------------------------------------*/

void autonomous( void ) {
  // ..........................................................................
  // empty...
  // ..........................................................................

}

/*----------------------------------------------------------------------------*/
/*                                                                            */
/*                              User Control Task                             */
/*                                                                            */
/*  This task is used to control your robot during the user control phase of  */
/*  a VEX Competition.                                                        */
/*                                                                            */
/*  You must modify the code to add your own robot specific commands here.    */
/*----------------------------------------------------------------------------*/

void usercontrol( void ) {
  // User control code here, inside the loop
  while (1){
      Dr.setVelocity(0.6*(Controller1.Axis1.position(percentUnits::pct))+1.5*(Controller1.Axis2.position(percentUnits::pct)),velocityUnits::rpm);
      Dl.setVelocity(0.6*(Controller1.Axis1.position(percentUnits::pct))-1.5*(Controller1.Axis2.position(percentUnits::pct)),velocityUnits::rpm);
      Dr.spin(directionType::fwd);
      Dl.spin(directionType::fwd);
      if(Controller1.ButtonR1.pressing()){
          Fwl.spin(directionType::rev);
          Fwr.spin(directionType::fwd);
      }else{
         if(Controller1.ButtonR2.pressing()){
             Fwl.spin(directionType::fwd);
             Fwr.spin(directionType::rev);
         }else{
             Fwl.stop();
             Fwr.stop();
         }
      }
      if(Controller1.ButtonL1.pressing()){
          Cll.spin(directionType::fwd);
          Clr.spin(directionType::rev);
      }else{
          if(Controller1.ButtonL2.pressing()){
              Cll.spin(directionType::rev);
              Clr.spin(directionType::fwd);
          }else{
              Cll.stop();
              Clr.stop();
          }
         
      }
      if(Controller1.ButtonLeft.pressing()){
          Bl.rotateFor(-840,rotationUnits::deg);
      }else{
          if(Controller1.ButtonRight.pressing()){
              Bl.rotateFor(-420,rotationUnits::deg);
          }else{
              Bl.stop();
          }
         
      }
      if(Controller1.ButtonUp.pressing()){
          Lss.rotateTo(900,rotationUnits::deg);
      }else{
          if(Controller1.ButtonDown.pressing()){
              Lss.rotateTo(675,rotationUnits::deg);
          }else{
              if(Controller1.ButtonX.pressing{
                  Lss.rotateTo(0,rotationUnits::deg);
              }else{
                  Lss.stop();
              }
             
         
      }
      }
 
 
 
 
    vex::task::sleep(20); //Sleep the task for a short amount of time to prevent wasted resources.
  }

//
// Main will set up the competition functions and callbacks.
//
int main() {
   
    //Run the pre-autonomous function.
    pre_auton();
   
    //Set up callbacks for autonomous and driver control periods.
    Competition.autonomous( autonomous );
    Competition.drivercontrol( usercontrol );

    //Prevent main from exiting with an infinite loop.                       
    while(1) {
      vex::task::sleep(100);//Sleep the task for a short amount of time to prevent wasted resources.
    }   
     
}

note of 11/28/2018

migration can be divided in to 2 categries
International migration-permanent move from one country to the other. Voluntary Forced
Internal migration_permanent move within the same country
Interregional
Intraregional
Approximately 9 percent of the world's perple are international Migrants, is that true?
Glbal pattern reflects migralion tendencies from developing countries to developed countries
Net out-migration
Asia Latin America and Africa
Net in-migration
North-America, Europe and Oceania
US has more foreign born resident than any other country
Approximately 43 million as of 2010 growing by 1 million annually
Three main eras of immigration in the US
Colonial settlement in seventeenth and eighteenth centuries
MAss European immigration in the late 19th and early 20th centuries
Asian and Latin American integration in the late twentieth and early 21st centuries

note of 11/27/2018

Migration
Mobility is most generalized term that refer to all types of movement
Journeying each day to work or school
weekly visit to local shops
annial trips to visit relatives who live in a different state
A permanent move to a new location donstitues migration
Emigration is migration from one location
immigration is migration to one location
Ravenstein's "laws" for the distance that migants typically move
most migrants relocate a short distance and remain within the same country
long-distance migrants to other countries head for major centers of economic activity

after the quiz

Lord today we have a quiz, tell us what the answer is!
Ok, this is truly impressive. And I suddenly found the answer of the quiz has been all talked about by the last class and the beginning of this class. In fact one of the Chinese International named Sarah Xiang in the upper class told me your tests and quizs are very hard, please Take easy on us.
The Thanksgiving break is coming and I plan to do the robot for the whole thanksgiving break expect Thursday. And you can find me in the physics Lab everyday before 7 am. In this way, I can have more time to make the robot! So I think i stay at school for 10 hours a day and i spend about 4 hours making it every day. That's interesting.
I got second honor in the first quarter and i hope i can do better in the next quarter, Now I get 4.307 for my GPA and hope I can keep it until the end of this quarter.

note of 11/19/2018

The course Hnas Rosling is called Global health
Hans Rosling construceted a chart which has two separate lines of axis, the x-axis measure income per person and the Y-axis measure life expectency
Poor and sick is the discripition Hans Rosling given to the area was in the lower,left-hand side of the chart
Rich and healthy is the discripition Hans Rosling given to the area was in the upper, right-hand side iof the chart
Stage 2 is the stage where a country would be experiencing a high birth rate and a rapidly falling death rate
The US was in stage 1 in 1800s
Japan, Italy are in stage 5
A country would be experincing a stable or slow RNI due to a high birth rate and a high death rate
the Industrial Revolution began in the late 1700s in England

note of 11/16/2018

Population Ratio
Defined as the number of the males per 100 females in the population.
Developed countries have more females than males
the Demographic Transition
Why natural increase rises or falls
Historically no country has ever reverted bact to a previous stage
stage 1 : low Growth rate
Marked by very high birth and death rates
no long term natural increase
no country presently is in stage 1
stage 2
Marked by rapidly declining death rates and very high birth rate
Europe and North American entered stage 2, as a result of the ondustrial revolution(1750)
Africa asia and Latin America entered stage 2 around 1950,as a result of medical revolution-improve medical care
Stage 3: Moderate growth
Marked by rapid decline in birth rate and steady decline in death rate.
Natural increase is moderate
Gap between CBR and CDR is narrower in stage 3 countries than stage 2 countries.
Population grows, because CBR is still greater than CDR
Most Europe countries and North America countries transition to  stage 3 during 20 century.
stage 4:Low Growth
Marked by very low brith rate and death rate
no long term natural increase and possibly a decrease
Country reaches stage 4 when population gains by CBR are diminished by losses because of CDR
Coudition known as zero population Growth.

note of 11/14/2018

components of population Growth
natural increase
about 82 million people are added to the population of the world annually
more than 95 percent of the natural increase is clustered in developing countries
TFR for world is 2.5
TFR exceeds 5 in sub-saharan Africa, while 2 or less in nearly all European countries
Mortality
infant mortality Rate(IMR)
measure used by geographers to better understand death rates in a society
Defined as the annual number of deaths of infants under one year of age, compared with total live births
Usually expressed per 1000 births rather than a percentage
IMR is 5 in developing countries and 80 in sub-saharan Africa
Summary of spatial Patterns
Developed/developing countries
Lower/ higher rate of
Natural increase
crude birth
Total fertility
Infant mortality
population structure:
a special bar graph known as a population pyramid can
usually display a country's distinctive population structure
X-axis
percent male/female displayed to the left/right of zero
Y-axis
Age conorts typically grouped in 5-year interuals
Youngest displayed at bottom and oldest at the top
Dependency Ratio
Defined as te number of people who are too young or too old to work compared to the number of people in their productive years

after exam

today i got the result of the exam and i got a 95, it is good and i think i can do better in it.
and i am programing for the robots these days and this the code i got today.
when(STARTED){
  while(true){
    BallLifting.setVelocity(127,percent);
    BallLifting.setMaxTorque(127,percent);
    Driving1Right.setVelocity((1.27*(Controller1.Axis1.position(percent)+Controller1.Axis2.position(percent))),percent);
    Driving2Left.setVelocity((1.27*(Controller1.Axis1.position(percent)-Controller1.Axis2.position(percent))),percent);
    Driving1Right.setMaxTorque(127,percent);
    Driving2Left.setMaxTorque(127,percent);
    CapLifting1Left.setVelocity(90,percent);
    CapLifting2Right.setVelocity(90,percent);
    CapLifting1Left.setMaxTorque(90,percent);
    CapLifting2Right.setMaxTorque(90,percent);
    Flywheel1Left.setMaxTorque(127,percent);
    Flywheel2Right.setMaxTorque(127,percent);
    LShapeStructure.setVelocity(50,percent);
    LShapeStructure.setMaxTorque(127,percent);
    Driving1Right.spin(forward);
    Driving2Left.spin(forward);
    BallLifting.rotateTo((Controller1.Axis3.position(percent)*5),degrees);
    if(Controller1.ButtonR1.pressing()){
      Flywheel1Left.setVelocity(127,percent);
      Flywheel2Right.setVelocity(127,percent);
      Flywheel1Left.spin(reverse);
      Flywheel2Right.spin(forward);
    }else{
      if(Controller1.ButtonR2.pressing()){
        Flywheel1Left.setVelocity(127,percent);
        Flywheel2Right.setVelocity(127,percent);
        Flywheel1Left.spin(forward);
        Flywheel2Right.spin(reverse);
      }else{
        Flywheel1Left.stop();
        Flywheel2Right.stop();
      }
    }
    if(Controller1.ButtonL1.pressing()){
      CapLifting1Left.spin(forward);
      CapLifting2Right.spin(reverse);
    }else{
      if(Controller1.ButtonL2.pressing()){
        CapLifting1Left.spin(reverse);
        CapLifting2Right.spin(forward);
      }else{
        CapLifting1Left.stop();
        CapLifting2Right.stop();
      }
    }
    if(Controller1.ButtonLeft.pressing()){
      BallLifting.rotateFor(-840,degrees);
    }else{
      if(Controller1.ButtonRight.pressing()){
        BallLifting.rotateFor(-420,degrees);
      }else{
        BallLifting.stop();
      }
    }
  }
}

note of 11/8/2018

The culture landscape
where is the world population distributed?
why is global population increasing?
why do population growth vary among areas?
why do some regions face health threats?
population concentrations
2/3 of the world's inhabitants are clustered in 4 regions
East Asia, South Asia, Southeast Asia,Europe
site ad situation of population clusters
low-lying areas with fertile soil and temperate climate
near an Ocean or near a river with easy access to an ocean
sparsely population regions
Humans avoid clustering in certain physical environments
Dry land
Wet land
Lold Land
High land
places of permanent human sttlement are termed the ecumene

test

today we took a test on population and i hope i can got a good grade on it
and did you see a poem i write at the back of the page in chinese?
the poem was about one of the oldest chinese festival, Mid-autumn festival. and the writer was a very interesting guy. at that time he had been out on business for 6 or 7 years in another place far from his hometown. In china mid-autumn festival is a festival for gathering all the families members together, enjoy the moon and have moon cake. But he was alone and lonely. He missed his brother, parents and friends a lot, so he just write the poem. the last sentence"但愿人长久千里共婵娟” means hope everyone will live longer, we can enjoy the same moon together if we are not together. He was so sad and he could write such a good poem.

Review 1

More people than ever?
over 7.5 billion people on planet right now.
increasing by over 73 million per year.
by approx, 200000 per day
9377 per hour
149 per minute
2.5 persecond
90 percent of this population growth takes place in the developing countries of africa, south adn east asis and latin America
ife expectancy
the average number of years to be lived by a group of people born in the same year
High: Monaco 89.52 total 85.63men 93.58women
#42 U.S.          79.68 total 77.32men 81.97women
low Chad         49.81 total 48.64men 51.03women
measuring population
Crude birth rate: Number of births per 1000 of the population
Crude death rate: Number of death per 1000 of the population
Rate of natural increase(RNI)
Produced by subtracting the death rate from the birth rate
This gives us the annual natural growth rate in percentage form for a country or region
But don't forget about migration
more mearsurement of population
Net Migration Rate: the difference between the number of people entering and leaving a country during a year.
an excess of people entering the country is immigration.
written as positive number
EX: Canada has 5.65 migrants per 1000 population.
       United states: 2.45（it was 3.62 in 2015）
an excess of persons leaving the country is net emigration.
written as a negative number.
example: Mexico has -1.68 migrants per 1000 population
                                   - 3.61 two years ago, -3.11 last year
why do people migrate
push forces
civil war
environmental degradation
unemployment or underemployment
religious or ethnic persecution
pull force
better economic opportunity
better health services
religious freedom
political freedom

sorry sir:
i was testing the robot for the whole night and i was so tired
can i do the blog tomorrow?
Thank you sir!
yesterday was friday and we went on a field trip with the whole freshman group. Honestly, the trip was not that intereseting but the church was really beautiful.
we talkes about some cities' population pymards in th ppt and looked at a new way to have classes
we watched a video of a model who was a beautiful white woman she just said a lot of things   and i did not know what did she want to talk about at the beginning. but later, she began to talk about the skin color and many interesting things and i finally realized how great she was.she wanted us to think about what the skin color stands for and how does it change the thought of people. i thing it will be a very interesting way to have class

note of 11/1/2018

today we saw a lot of population pyramids and learnt about how to decide this is a developing country or a developed country. And I check Chinese one and want to find out something about Chinese history and i think it was ignored by someone. As everyone knows, many bad things happened to China in the 1950s and 1960s, so i want to find the change at that time.

Than, we have a field trip tomorrow and the trip will last for half a day. I am not interested in religion but I like to learn more new things

One thing very happy that is we will have hot pot together at the weekend with all the Chinese internationals. We will drive  to Towson and have lunch together. That will be great.

Hope everyone will enjoy the trip tomorrow and I will have a happy lunch with all the people!