Re: Question about transmitter
You can even go as far as removing the "/2" that halves the inputs, that way you don't lose half of your speed. I use something like the below which has 4 motors, pairs on port1/7 and port 2/8.
Like they say above, with RobotC you can put the motors on any port you want and use the sticks/buttons for anything you want as well. This is a bit from a simple program I use to control tank treads with the left stick and a camera on a turret (up/down/left/right) with the right stick. I've removed the turret junk though.
Don't forget you may or may not need the "bMotorFlippedMode" and you may or may not need it on the *other* ports instead.
#pragma config(Motor, port1, leftMotor1, tmotorNormal)
#pragma config(Motor, port2, rightMotor1, tmotorNormal)
#pragma config(Motor, port7, leftMotor2, tmotorNormal)
#pragma config(Motor, port8, rightMotor2, tmotorNormal)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
bMotorFlippedMode[leftMotor1] = 1;
bMotorFlippedMode[leftMotor2] = 1;
bVexAutonomousMode = false;
// Mixing ch3 and ch4 to control tank with 1 stick.
motor[leftMotor1] = vexRT[Ch3] + vexRT[Ch4];
motor[rightMotor1] = vexRT[Ch3] - vexRT[Ch4];
motor[leftMotor2] = vexRT[Ch3] + vexRT[Ch4];
motor[rightMotor2] = vexRT[Ch3] - vexRT[Ch4];