#pragma config(Sensor, S1,     touch1,         sensorTouch)
#pragma config(Motor,  motorC,          FB,            tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorB,          LR,            tmotorNXT, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//


task main()
{

 const int kMaxSizeOfMessage = 2;
 const TMailboxIDs kQueueID = mailbox1;
 ubyte nXmitBuffer[kMaxSizeOfMessage];




 typedef struct
 {
  int FowardBack;
  int LeftRight;
  bool Tou1;
 }joystickNXT;
 joystickNXT XY;
 XY.ForwardBack = 0;
 XY.LeftRight = 0;
 XY.Tou1 = false;
 
 
 setBluetoothOn();
 setBluetoothVisibility(true);
 nxtDisplayCenteredTextLine(3, "~~~~~~~~~~~~~~~~~~~");
 nxtDisplayCenteredTextLine(4, "Welcome to the user");
 nxtDisplayCenteredTextLine(5, "interface Board!");
 wait1Msec(2000);
 nMotorEncoder[FB] = 0;
 nMotorEncoder[LR] = 0;
 if(touch1)
 {
  XY.tou1 = true;
 }
 else
 {
  XY.tou1 = false;
 }
 StartTask(color12);
 while(true)
 {
  XY.FowardBack = nMotorEncoder[FB];
  XY.LeftRight = nMotorEncoder[LR];
 
  if(FowardBack < 0)
 
  {
   
 
   strncat("-", "%d", XY.ForwardBack, 1);
  }
  if(LeftRight < 0)
 
  {
   
 
   strncat("-", "%d", XY.LeftRight, 1);
  } 
 
  }
  if(bBTBusy)
  {}
  else
  {
   nXmitBuffer[0] = XY.FowardBack;
   nXmitBuffer[1] = XY.LeftRight;
   cCmdMessageWriteToBluetooth(0, nXmitBuffer, kMaxSizeOfMessage, kQueueID);
   nXmitBuffer[0] = XY.Tou1;
   cCmdMessageWriteToBluetooth(0, nXmitBuffer, kMaxSizeOfMessage, kQueueID);
   wait1Msec(50);
  }
 }
}

#pragma config(Sensor, S1,     touch1,         sensorTouch)
#pragma config(Motor,  motorC,          FB,            tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorB,          LR,            tmotorNXT, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

//
// If you want the joystickNXT definition be visible to other functions and tasks,
// you need to declare it outside of task main.
//
typedef struct
{
    int FowardBack;
    int LeftRight;
    bool Tou1;
} joystickNXT;

task main()
{
    const int kMaxSizeOfMessage = 2;
    const TMailboxIDs kQueueID = mailbox1;
    ubyte nXmitBuffer[kMaxSizeOfMessage];
    char textString[20];
    //
    // You can do in-line initialization when declaring a variable.
    //
    joystickNXT XY = {0, 0, false};

    setBluetoothOn();
    setBluetoothVisibility(true);
    nxtDisplayCenteredTextLine(3, "~~~~~~~~~~~~~~~~~~~");
    nxtDisplayCenteredTextLine(4, "Welcome to the user");
    nxtDisplayCenteredTextLine(5, "interface Board!");
    wait1Msec(2000);

    nMotorEncoder[FB] = 0;
    nMotorEncoder[LR] = 0;
    //
    // I assume you are checking the state of the touch sensor. If so,
    // it should be done using SensorValue[touch1] instead of just
    // testing touch1. touch1 is the sensor port ID. It doesn't tell you
    // the state of the touch sensor. Better yet, use the code below.
    //
    XY.tou1 = SensorValue[touch1] != 0;
    //
    // What does color12 task do? If you can, avoid using tasks unless you
    // really know what you are doing.
    //
    StartTask(color12);

    while(true)
    {
        XY.FowardBack = nMotorEncoder[FB];
        XY.LeftRight = nMotorEncoder[LR];
 
        if(FowardBack < 0)
        {
            // This is not how strncat is used. The first parameter should be
            // a char array variable. In fact, if I guess it correctly, you shouldn't
            // use strncat at all. You probably meant sprintf.
            // strncat("-", "%d", XY.ForwardBack, 1);
            //
            // Actually, I am confused. I am not sure what you are trying to do with concatenating the string.
            // There is no use of it in the code below???
            //
            sprintf(textString, "- %d", XY.ForwardBack);
        }

        if (LeftRight < 0)
        {
            //
            // Again, this is probably wrong.
            // strncat("-", "%d", XY.LeftRight, 1);
            //
            // Again, I am not sure what you are trying to do here.
            //
            sprintf(textString, "- %d", XY.LeftRight);
        }

        if(!bBTBusy)
        {
            //
            // nXmitBuffer is an array of ubytes. XY.ForwardBack is an integer.
            // This will cause truncation. So I am not sure what you are doing here.
            //
            nXmitBuffer[0] = XY.FowardBack;
            nXmitBuffer[1] = XY.LeftRight;
            cCmdMessageWriteToBluetooth(0, nXmitBuffer, kMaxSizeOfMessage, kQueueID);
            nXmitBuffer[0] = XY.Tou1;
            cCmdMessageWriteToBluetooth(0, nXmitBuffer, kMaxSizeOfMessage, kQueueID);
            wait1Msec(50);
        }
    }
}