#define DEADBAND_THRESHOLD 15
#define DEADBAND(x) ((abs(x) >= DEADBAND_THRESHOLD)? x: 0)
#define BOUND(x) (((x) > 100)? 100: ((x) < -100)? -100: (x))
#define JOYSTICK_POWER(x) (BOUND(DEADBAND(x)))

#define CLAW_CLOSE_ANGLE 0
#define CLAW_OPEN_ANGLE 120

task main()
{
    //Assume the claw is closed at start and the encoder value goes up when opening.
    nMotorEncoder[clawMotor] = CLAW_CLOSE_ANGLE;
    while (true)
    {
        //
        // Get joystick readings.
        //
        getJoystickSettings(joystick);

        //
        // Translate controller 2 right stick x axis value to within motor power range (-100 to 100) and with deadband.
        //
        int clawPower = JOYSTICK_POWER(joystick.joy2_x1);

        //
        // Read the current claw angle.
        //
        int clawPos = nMotorEncoder[clawMotor];

        //
        // Only allow the motor to move if we are opening and it's not fully opened
        // or we are closing but it's not fully closed.
        //
        if ((clawPower > 0) && (clawPos < CLAW_OPEN_ANGLE) ||
            (clawPower < 0) && (clawPos > CLAW_CLOSE_ANGLE))
        {
            motor[clawMotor] = clawPower;
        }
        else
        {
            motor[clawMotor] = 0;
        }
        wait1Msec(100);
    }
}