pragma config(Hubs,  S1, HTMotor,  HTMotor,  HTServo,     none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Motor,  mtr_S1_C1_2,     Arm,           tmotorTetrix, openLoop, reversed)
#pragma config(Motor,  mtr_S1_C2_1,     Drive1,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     Drive2,        tmotorTetrix, openLoop, reversed)
#pragma config(Servo,  srvo_S1_C3_2,    Grab, tServoTetrix)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

// ----------------------------------------------------------------------------------------------
#include "JoystickDriver.c"
// ----------------------------------------------------------------------------------------------
void initializeRobot()
{
  // Place code here to initialize servos to starting positions.
servo[Grab] = 256; //l0jec - Do you want the CR servo to start spinning before the start of the match?  Should this be set to 127?
return;
}
// ----------------------------------------------------------------------------------------------
task main() {
  initializeRobot();
  waitForStart();
  int threshold = 25;  //l0jec - 25 is a large threshold; make sure you're moving the analog stick far enough to exceed it or consider a lower value
  while (true) {
  getJoystickSettings(joystick);
// ----------------------------------------------------------------------------------------------
// Driving Motors Coded Below
// ----------------------------------------------------------------------------------------------
if(abs(joystick.joy1_y2) > threshold) 
    {
      if (joystick.joy1_y2 > 0) { motor[Drive1] = joystick.joy1_y2/-1; } // movement amount  //l0jec - You already checked the value against your threshold up above.  Why are you checking to see if the value is greater than zero?  Also, why are you dividing the value by -1??
      if (joystick.joy1_y2 < 0) { motor[Drive1] = joystick.joy1_y2/-1; } // movement amount  //l0jec - You already checked the value against your threshold up above.  Why are you checking to see if the value is less than zero?  Also, why are you dividing the value by -1??
    else
    {
      motor[Drive1] = 0; // if no joystick movement then stop motor
    }
// ---------------------------------------------------------------------------------------------
if(abs(joystick.joy1_y1) > threshold) // if the controller # is greater than threshold amount
    {
      if (joystick.joy1_y1 > 0) { motor[Drive2] = joystick.joy1_y1/-1; } // movement amount  //l0jec - You already checked the value against your threshold up above.  Why are you checking to see if the value is greater than zero?  Also, why are you dividing the value by -1??
      if (joystick.joy1_y1 < 0) { motor[Drive2] = joystick.joy1_y1/-1; } // movement amount  //l0jec - You already checked the value against your threshold up above.  Why are you checking to see if the value is less than zero?  Also, why are you dividing the value by -1??
    }
      else
    {
        motor[Drive2] = 0; // if no joystick movement then stop motor
    }
// ----------------------------------------------------------------------------------------------
// ARM CODED BELOW
// ----------------------------------------------------------------------------------------------
if(abs(joystick.joy2_y1) > threshold)
    {
      motor[Arm] = joystick.joy2_y1/-1;  //l0jec - Again, why are you dividing the value by -1??
    }
    else
    {
      motor[Arm] = 0;
    }
// ----------------------------------------------------------------------------------------------
// for SERVO REFERENCE on CONTINIOUS rotation...
// value = 0 is FULL POWER REVERSE
// value = 127 is STOP
// value = 256 id FULL POWER FORWARD
// ------------------ SERVO CODED BELOW ---------------------------------------------------------
if(joy2Btn(1) == 1)
   {
      servo[Grab] = 0;
   }
if(joy2Btn(3) == 1)
   {
      servo[Grab] = 256;
   }
if(joy2Btn(4) == 1)
   {
      servo[Grab] = 127;
  }
// ----------------------------------------------------------------------------------------------
    }
}