#pragma config(Hubs,  S1, HTMotor,  HTMotor,  none,     none)
#pragma config(Sensor, S2,     magnet,              sensorHiTechnicMagnetic)
#pragma config(Motor,  mtr_S1_C1_1,     motorleft,     tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     motorright,    tmotorNormal, openLoop, reversed)
#pragma config(Motor,  mtr_S1_C2_1,     motorfrontleft, tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     motorfrontright, tmotorNormal, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/////////////////////////////////////////////////////////////////////////////////////////////////
#include "JoystickDriver.c"  //Include file to "handle" the Bluetooth messages.



/////////////////////////////////////////////////////////////////////////////////////////////////
void initializeRobot()
{
  return;
}



task main()
{
  initializeRobot();

  float power_mult1 = 0.5; //slow, button 1
  float power_mult2 = 0.35; //slower, button 2
  float power_mult3 = 0.25; //lowest, button 3
  //bool lift_forward = false;
  //bool joke_hiss = false;
  //bool magnet = false;

  waitForStart();   // wait for start of tele-op phase

  while (true)
  {
    if (joy1Btn(7) == 1) {
       motor[motorleft] = (float)joystick.joy1_y1 * power_mult1;
      motor[motorright] = (float)joystick.joy1_y2 * power_mult1;
      motor[motorfrontleft] = (float)joystick.joy1_y1 * power_mult1;
      motor[motorfrontright] = (float)joystick.joy1_y2 * power_mult1;
    }
   else if (joy1Btn(5) == 1) {
      motor[motorleft] = (float)joystick.joy1_y1 * power_mult2;
      motor[motorright] = (float)joystick.joy1_y2 * power_mult2;
      motor[motorfrontleft] = (float)joystick.joy1_y1 * power_mult2;
      motor[motorfrontright] = (float)joystick.joy1_y2 * power_mult2;

    }
   else if (joy1Btn(8) == 1) {
      motor[motorleft] = (float)joystick.joy1_y1 * power_mult3;
      motor[motorright] = (float)joystick.joy1_y2 * power_mult3;
      motor[motorfrontleft] = (float)joystick.joy1_y1 * power_mult3;
      motor[motorfrontright] = (float)joystick.joy1_y2 * power_mult3;
    }
   else {
      motor[motorleft] = (float)joystick.joy1_y1;
      motor[motorright] = (float)joystick.joy1_y2;
      motor[motorfrontleft] = (float)joystick.joy1_y1;
      motor[motorfrontright] = (float)joystick.joy1_y2;
      }
  }
}

[code][/code]