joystick.joy2_TopHat; // -1 = not pressed, otherwise 0 to 7 for pressed ‘octant’

if (joystick.joy2_TopHat = 0) //meaning the top button of the D-pad is pressed
{
motor[motorD] = 50; //motor runs at 50% power
}
else
{
motor[motorD] = 0; //motor does not run
}

const int TopHatIdle           = -1;  // Tophat value when no button is pressed.
const int TopHatNorth          =  0;  // Tophat value when the north button is pushed.
const int TopHatNorthEast      =  1;  // Tophat value when the northeast button is pushed.
const int TopHatEast           =  2;  // Tophat value when the east button is pushed.
const int TopHatSouthEast      =  3;  // Tophat value when the southeast button is pushed.
const int TopHatSouth          =  4;  // Tophat value when the south button is pushed.
const int TopHatSouthWest      =  5;  // Tophat value when the southwest button is pushed.
const int TopHatWest           =  6;  // Tophat value when the west button is pushed.
const int TopHatNorthWest      =  7;  // Tophat value when the northwest button is pushed.

/***************************************************************************
* HandleTopHat()
*
* Takes the current value of the tophat control (passed in) and performs the
* correct action.
*
* In general, all tophat buttons change the behavior of the other buttons.
*
* The North and South positions adjust the gear (speed range) of the drive motors.
*
* The East and West positions are shift states for the 8 pushbuttons. That
* means that when the tophat is pressed to the East or West no immediate
* action needs to be performed. Instead, the HandleButton() code switches
* on the state of the tophat to decide what mode we are in and what the
* individual buttons should do.
*
* For the purposes of this robot, if the the tophat is in the East position,
* The 8 regular buttons move the sensor arm to different positions instead of
* moving the manipulator arm which is the default behavior of the buttons.
*
* Holding the tophat in the West postion is reserved for higher level behaviors
* like scanning for colors, parallel parking and ordering take-out curry.
*
****************************************************************************/

void HandleTopHat(int nTopHat)
{
    switch (nTopHat)
    {
    case TopHatNorth:  // Increase the drive speed
        gearup();
        break;

    case TopHatSouth:  // Decrease the drive speed
        geardown();
        break;
    }
}

/***************************************************************************
* HandleButton()
*
* Based on the position of the tophat this function calls the corresponding
* handle___Button function.
*
* Supports 24 buttons. See the comment block for HandleTopHat for details.
*
***************************************************************************/
void HandleButton(short nButtons, short nTopHat)
{
    if (nLastButtons == nButtons)  // If the buttons are exactly the same as they were before we're done.
        return;

    nLastButtons = nButtons;       // remember what buttons were pressed so we don't repeat ourselves

    switch (nTopHat)
    {
    case TopHatEast:
        HandleSensorButton(nButtons);  // Shifted button state affects sensor arm
        break;

    case TopHatWest:
        HandleOtherButton(nButtons);   // Shifted button state does other functions
        break;

    default:
        HandleClawButton(nButtons);    // Normal button state affects the claw arm
        break;
    }
}

void HandleTopHat(int nTopHat)
{
    switch (nTopHat)
    {
    case TopHatNorth:  // Increase the drive speed
        gearup();
        break;

    case TopHatSouth:  // Decrease the drive speed
        geardown();
        break;
    }
}