#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, in1,    leftLineFollower, sensorLineFollower)
#pragma config(Sensor, in2,    centerLineFollower, sensorLineFollower)
#pragma config(Sensor, in3,    rightLineFollower, sensorLineFollower)
#pragma config(Sensor, in4,    gyro,           sensorGyro)
#pragma config(Sensor, in6,    armPot,         sensorPotentiometer)
#pragma config(Sensor, dgtl1,  rightEncoder,   sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  leftEncoder,    sensorQuadEncoder)
#pragma config(Sensor, dgtl6,  touchSensor,    sensorTouch)
#pragma config(Sensor, dgtl8,  sonarSensor,    sensorSONAR_cm)
#pragma config(Sensor, I2C_1,  rightIME,       sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_2,  leftIME,        sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_3,  armIME,         sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Motor,  port2,           rightMotor,    tmotorVex393_MC29, openLoop, reversed, driveRight, encoderPort, I2C_1)
#pragma config(Motor,  port3,           leftMotor,     tmotorVex393_MC29, openLoop, driveLeft, encoderPort, I2C_2)
#pragma config(Motor,  port6,           armMotor,      tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_3)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*+++++++++++++++++++++++++++++++++++++++++++++| Notes |++++++++++++++++++++++++++++++++++++++++++++++
2 Joystick Drive
- This program allows you to remotely control your robot using the USB Logitech Dual
  Action Joysticks.
- For USB values to be transmitted to the robot, you must follow several steps:
  - Use the "#include "JoystickDriver.c"" line at the beginning of your program
  - Call the "getJoystickSettings(joystick);" in a loop to repeatedly retrieve the latest values
  - Open the Robot > Debugger Windows > "Joystick Control - Basic" window after downloading your
    program to the virtual robot

Robot Model(s): Squarebot

[I/O Port]          [Name]              [Type]                [Description]
Motor Port 2        rightMotor          VEX Motor             Right side motor
Motor Port 3        leftMotor           VEX Motor             Left side motor

*To run this sample program on Swervebot, be sure to Reverse Motor Port 3 in the Motors and Sensors
 Setup, and to make sure that Motor Port 2 is NOT Reversed.
----------------------------------------------------------------------------------------------------*/

#pragma debuggerWindows("joystickSimple");
#include "JoystickDriver.c"

task main()
{
  //Loop Forever
  while(1 == 1)
  {
    //Get the Latest joystick values
    getJoystickSettings(joystick);
    //Set the driving motors equal to the Y-axis values of the joysticks
    motor[leftMotor] = joystick.joy1_y1;
    motor[rightMotor] = joystick.joy1_y2;

    if(joy1Btn(6))
    {motor[armMotor]=40;}
  else if(joy1Btn(8))
    {motor[armMotor]=-40;}
   else
  {motor[armMotor]=0;}

    }
}