PFcomboDirectMode(tSensors link, int channel, eCDMMotorCommand _motorB, eCDMMotorCommand _motorA);//This is used to run both motors in a
//bang-bang configuration when they're
//within the line-of-site of the IRLink.  tSensors link is the port of the IRLink (S1-S4), channel is one of the four IR channels (0-3),
//and the eCDMMotorCommands are these:
//CDM_MOTOR_FLOAT = 0,      /*!< Float the motor */
//CDM_MOTOR_FWD = 1,        /*!< Forward */
//CDM_MOTOR_BAK = 2,        /*!< Reverse */
//CDM_MOTOR_BRAKE = 3       /*!< Brake the motor */
PFcomboPwmMode(tSensors link, int channel, ePWMMotorCommand _motorB, ePWMMotorCommand _motorA);//This is the same as the one above, except the
//motors continues running without having to receive messages, and it allows speed control.  The speed commands are:
//MOTOR_FLOAT = 0,      /*!< Float the motor */
//MOTOR_FWD_PWM_1 = 1,  /*!< Forward speed 1 */
//MOTOR_FWD_PWM_2 = 2,  /*!< Forward speed 2 */
//MOTOR_FWD_PWM_3 = 3,  /*!< Forward speed 3 */
//MOTOR_FWD_PWM_4 = 4,  /*!< Forward speed 4 */
//MOTOR_FWD_PWM_5 = 5,  /*!< Forward speed 5 */
//MOTOR_FWD_PWM_6 = 6,  /*!< Forward speed 6 */
//MOTOR_FWD_PWM_7 = 7,  /*!< Forward speed 7 */
//MOTOR_BRAKE = 8,      /*!< Brake the motor */
//MOTOR_REV_PWM_7 = 9,  /*!< Reverse speed 7 */
//MOTOR_REV_PWM_6 = 10, /*!< Reverse speed 6 */
//MOTOR_REV_PWM_5 = 11, /*!< Reverse speed 5 */
//MOTOR_REV_PWM_4 = 12, /*!< Reverse speed 4 */
//MOTOR_REV_PWM_3 = 13, /*!< Reverse speed 3 */
//MOTOR_REV_PWM_2 = 14, /*!< Reverse speed 2 */
//MOTOR_REV_PWM_1 = 15  /*!< Reverse speed 1 */
PFMotor(tPFmotor pfmotor, ePWMMotorCommand _motorCmd);//The last (and simplest, IMHO) command.  Simply identify the motor using one of these:
//pfmotor_S1_C1_A = 0,  /*!< Motor A, Channel 1, IR Link connected to S1 */
//pfmotor_S1_C1_B,      /*!< Motor B, Channel 1, IR Link connected to S1 */
//pfmotor_S1_C2_A,      /*!< Motor A, Channel 2, IR Link connected to S1 */
//pfmotor_S1_C2_B,      /*!< Motor B, Channel 2, IR Link connected to S1 */
//pfmotor_S1_C3_A,      /*!< Motor A, Channel 3, IR Link connected to S1 */
//pfmotor_S1_C3_B,      /*!< Motor B, Channel 3, IR Link connected to S1 */
//pfmotor_S1_C4_A,      /*!< Motor A, Channel 4, IR Link connected to S1 */
//pfmotor_S1_C4_B,      /*!< Motor B, Channel 4, IR Link connected to S1 */
//pfmotor_S2_C1_A,      /*!< Motor A, Channel 1, IR Link connected to S2 */
//pfmotor_S2_C1_B,      /*!< Motor B, Channel 1, IR Link connected to S2 */
//pfmotor_S2_C2_A,      /*!< Motor A, Channel 2, IR Link connected to S2 */
//pfmotor_S2_C2_B,      /*!< Motor B, Channel 2, IR Link connected to S2 */
//pfmotor_S2_C3_A,      /*!< Motor A, Channel 3, IR Link connected to S2 */
//pfmotor_S2_C3_B,      /*!< Motor B, Channel 3, IR Link connected to S2 */
//pfmotor_S2_C4_A,      /*!< Motor A, Channel 4, IR Link connected to S2 */
//pfmotor_S2_C4_B,      /*!< Motor B, Channel 4, IR Link connected to S2 */
//pfmotor_S3_C1_A,      /*!< Motor A, Channel 1, IR Link connected to S3 */
//pfmotor_S3_C1_B,      /*!< Motor B, Channel 1, IR Link connected to S3 */
//pfmotor_S3_C2_A,      /*!< Motor A, Channel 2, IR Link connected to S3 */
//pfmotor_S3_C2_B,      /*!< Motor B, Channel 2, IR Link connected to S3 */
//pfmotor_S3_C3_A,      /*!< Motor A, Channel 3, IR Link connected to S3 */
//pfmotor_S3_C3_B,      /*!< Motor B, Channel 3, IR Link connected to S3 */
//pfmotor_S3_C4_A,      /*!< Motor A, Channel 4, IR Link connected to S3 */
//pfmotor_S3_C4_B,      /*!< Motor B, Channel 4, IR Link connected to S3 */
//pfmotor_S4_C1_A,      /*!< Motor A, Channel 1, IR Link connected to S4 */
//pfmotor_S4_C1_B,      /*!< Motor B, Channel 1, IR Link connected to S4 */
//pfmotor_S4_C2_A,      /*!< Motor A, Channel 2, IR Link connected to S4 */
//pfmotor_S4_C2_B,      /*!< Motor B, Channel 2, IR Link connected to S4 */
//pfmotor_S4_C3_A,      /*!< Motor A, Channel 3, IR Link connected to S4 */
//pfmotor_S4_C3_B,      /*!< Motor B, Channel 3, IR Link connected to S4 */
//pfmotor_S4_C4_A,      /*!< Motor A, Channel 4, IR Link connected to S4 */
//pfmotor_S4_C4_B,      /*!< Motor B, Channel 4, IR Link connected to S4 *///And then use the above PWM commands to control the speed.  It also
//continues moving without continuos IR messages.  It only controls one motor at a time.

#pragma config(Sensor, S1,     HTIRL,          sensorI2CCustom)

//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

tPFmotor claw1 = pfmotor_S1_C1_A;

ePWMMotorCommand claw1grab = MOTOR_FWD_PWM_4;
ePWMMotorCommand claw1release = MOTOR_REV_PWM_4;

// some code here, task main blah blah

PFMotor(claw1, claw1grab);

#include "HTIRL-driver.h";