#pragma config(Sensor, S4,     IRseeker,       sensorNone)
#pragma config(Motor,  mtr_S1_C1_1,     East,          tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     West,          tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_1,     North,         tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     South,         tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C3_1,     Lift,          tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C3_2,     None,          tmotorTetrix, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c"


task main()
{
while(true)
   {
getJoystickSettings(joystick);


if(joystick.joy1_y1 > 40 || joystick.joy1_y1 < -40 )
{
   motor[West] = -joystick.joy1_y1/2;
}

if(joy1Btn(5) == 1 && (joystick.joy1_y1 > 40 || joystick.joy1_y1 < -40))
{
   motor[West] = -joystick.joy1_y1/8;
}


if(joystick.joy1_y1 < 40 && joystick.joy1_y1 > -40)
{
   motor[West] = 0;
}


if(joystick.joy1_y2 > 40 || joystick.joy1_y2 < -40)
{
   motor[East] = joystick.joy1_y2/2;
}

if(joy1Btn(5) == 1 && (joystick.joy1_y2 > 40 || joystick.joy1_y2 < -40))
{
   motor[East] = joystick.joy1_y2/8;
}


if(joystick.joy1_y2 < 40 && joystick.joy1_y2 > -40)
{
   motor[East] = 0;
}


if(joystick.joy1_x1 > 40 || joystick.joy1_x1 < -40)
{
   motor[North] = -joystick.joy1_x1/2;
}

if(joy1Btn(5) == 1 && (joystick.joy1_x1 > 40 || joystick.joy1_x1 < -40))
{
   motor[North] = -joystick.joy1_x1/8;
}


if(joystick.joy1_x1 < 40 && joystick.joy1_x1 > -40)
{
   motor[North] = 0;
}


if(joystick.joy1_x2 > 40 || joystick.joy1_x2 < -40)
{
   motor[South] = joystick.joy1_x2/2;
}

if(joy1Btn(5) == 1 && (joystick.joy1_x2 > 40 || joystick.joy1_x2 < -40))
{
   motor[South] = joystick.joy1_x2/8;
}


if(joystick.joy1_x2 < 40 && joystick.joy1_x2 > -40)
{
   motor[South] = 0;
}

///////////////////////////////////////////////////////////////



if (joystick.joy1_TopHat == 4)
{
   motor[Lift] = -10;
}
if (joystick.joy1_TopHat == -1)
{
   motor[Lift] = 0;
}
if(joystick.joy1_TopHat == 0)
{
   motor[Lift] = 50;
}
}
}