int mplLeft = joystick.joy1_y1;
    int mplRight = joystick.joy1_y2;
   
    motor[LeftMotor] = mplLeft;
    motor[RightMotor] = mplRight;

#pragma config(Hubs,  S1, HTMotor,  HTMotor,  HTServo,  none)
#pragma config(Motor,  mtr_S1_C1_1,     Kicker,        tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C1_2,     motorE,        tmotorNone, openLoop)
#pragma config(Motor,  mtr_S1_C2_1,     RightMotor,    tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     LeftMotor,     tmotorNormal, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c"   //Include file to "handle" the Bluetooth messages.


void initializeRobot()
{
  nMotorEncoder[Kicker] = 0;  //sets the encouter count back to zero
  return;
}


task main()
{
  initializeRobot();          //calls funtion to initalise encoders and sensors

  waitForStart();             // wait for start of tele-op phase

  while (true)                //telop phase = true
  {
    int mplLeft = joystick.joy1_y1;
    int mplRight = joystick.joy1_y2;
   
    motor[LeftMotor] = mplLeft;
    motor[RightMotor] = mplRight;
   
    if (joy1Btn(6))           //button one on logitech controller
    {
      nMotorEncoderTarget[Kicker] = 2000;   //has motor run for 2 turns
      motor[Kicker] = 100;                  //at 100% powe
    }
  }
}