#pragma config(Motor,  port1,           leftWheel,     tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port4,           frontWheel,       tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port5,           backWheel,      tmotorVex393, openLoop)
#pragma config(Motor,  port7,           tropheeMotor,      tmotorVex393, openLoop)
#pragma config(Motor,  port10,          rightWheel,    tmotorVex393, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{

   //Create "deadzone" variables. Adjust threshold value to increase/decrease deadzone
int X2 = 0, Y1 = 0, X1 = 0, threshold = 15;

//Loop Forever
while(1 == 1)
{
   //Create "deadzone" for Y1/Ch3
   if(abs(vexRT[Ch3]) > threshold)
   {
      Y1 = vexRT[Ch3];
   }
   else
   {
      Y1 = 0;
   }

   //Create "deadzone" for X1/Ch4
   if(abs(vexRT[Ch4]) > threshold)
   {
      X1 = vexRT[Ch4];
   }
   else
   {
      X1 = 0;
   }

   //Create "deadzone" for X2/Ch1
   if(abs(vexRT[Ch1]) > threshold)
   {
      X2 = vexRT[Ch1];
   }
   else
   {
      X2 = 0;
   }

   //Remote Control Commands
   motor[leftWheel] = Y1 + X2;
   motor[rightWheel] =  Y1 - X2;
   motor[frontWheel] = X1 + X2;
   motor[backWheel] =  X1 - X2;
   }
}

(X1+X2)/2;