#pragma config(Hubs,  S1, HTMotor,  HTMotor,  none,     none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Sensor, S2,     Irseeker,       sensorHiTechnicIRSeeker1200)
#pragma config(Sensor, S3,     light,          sensorNone)
#pragma config(Sensor, S4,     sonar,          sensorNone)
#pragma config(Motor,  mtr_S1_C1_1,     right1,        tmotorTetrix, openLoop, reversed, encoder)
#pragma config(Motor,  mtr_S1_C1_2,     right2,        tmotorTetrix, openLoop, reversed)
#pragma config(Motor,  mtr_S1_C2_1,     left1,         tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     left2,         tmotorTetrix, openLoop, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c"

task main()
{
nMotorEncoder[left2] = 0;//reset the value of encoder B to zero
nMotorEncoder[right1] = 0;//reset the value of encoder C to zero
nMotorEncoderTarget[left2] = 5;//set the encoder target to 720
nMotorEncoderTarget[right1] = 5;//set the encoder target to 720
motor[left2] = -20;//turn on motorB at 50% power
motor[right1] = -20;//turn on motorC at 50% power


while(nMotorRunState[left2] != runStateIdle)
{ /* This is an idle loop. The program waits until the condition is satisfied*/}
motor[left2] = 0; //Turn off motorB
motor[right1] = 0; //Turn off motorC
}