int CurrentRightPower = 1;
float Gear = 0.5;
CurrentRightPower = nMotorEncoder[RightDrive] + 60;
      CurrentRightPower *= Gear;

int CurrentRightPower = 1;
float Gear = 0.5;
CurrentRightPower = (nMotorEncoder[RightDrive] + 60) * Gear;

#pragma config(Sensor, S1,     LeftButton,     sensorTouch)
#pragma config(Sensor, S2,     RightButton,    sensorTouch)
#pragma config(Motor,  motorA,          TurretControl, tmotorNXT, PIDControl, reversed, encoder)
#pragma config(Motor,  motorB,          RightDrive,    tmotorNXT, PIDControl, reversed, encoder)
#pragma config(Motor,  motorC,          LeftDrive,     tmotorNXT, PIDControl, reversed, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

// Project: Jerry
// Function: remote control with two motors acting as joysticks
// Author: Mike McFarlane 06-09-12
// Version: 0-1
// Status: dev

task main()
{
   int CurrentRightPower = 1;
   int CurrentLeftPower = 1;
   int CurrentTurretPosition = 0;
   float Gear = 0.5;
   int Horn = 1;

   // reset motor encoders
   // initial calibration should be done with both joysticks fully forward
   nMotorEncoder [RightDrive] = 0;
   nMotorEncoder [LeftDrive] = 0;
   nMotorEncoder [TurretControl] = 0;
   wait1Msec(100);

   while (true)
   {
      // read encoder and print to screen
      // encoder range; 0 = fully forward, 125 = fully back, 60 = natural neutral
      CurrentRightPower = nMotorEncoder[RightDrive] + 60;
      CurrentRightPower *= Gear;
      CurrentLeftPower = (nMotorEncoder[LeftDrive] + 60) * Gear;
      CurrentTurretPosition = nMotorEncoder[TurretControl];
      nxtDisplayBigTextLine(0, "R: %d", CurrentRightPower);
      nxtDisplayBigTextLine(2, "L: %d", CurrentLeftPower);
      nxtDisplayBigTextLine(4, "T: %d", CurrentTurretPosition);
      // check right button to set motor gear ratio
      if (SensorValue (RightButton) == 1)
      {
         if (Gear == 0.5)
         {Gear = 1.5;}
         else
         {Gear = 0.5;}
      }
      while (SensorValue (RightButton) == 1)
      {
         // do nothing till button released
      }
      nxtDisplayBigTextLine(6, "G: %1.2f", Gear);
      // check left button for horn - toot toot!
      if (SensorValue (LeftButton) == 1)
      {
         if (Horn == 1)
         {Horn = 2;}
         else
         {Horn = 1;}
      }
      while (SensorValue (LeftButton) == 1)
      {
         // do nothing till button released
      }
      // send message to paired NXT
      sendMessageWithParm (CurrentRightPower, CurrentLeftPower, Horn);
      wait1Msec(100);
   }
}