text: #pragma config(Hubs,  S1, HTMotor,  HTServo,  none,     none)
  #pragma config(Hubs,  S2, HTMotor,  HTMotor,  none,     none)
  #pragma config(Sensor, S1,     leftside,       sensorI2CMuxController)
  #pragma config(Sensor, S2,     rightside,      sensorI2CMuxController)
  #pragma config(Motor,  mtr_S1_C1_1,     frontRight,    tmotorMatrix, PIDControl, encoder)
  #pragma config(Motor,  mtr_S1_C1_2,     backRight,     tmotorMatrix, PIDControl, encoder)
  #pragma config(Motor,  mtr_S2_C1_1,     frontLeft,     tmotorTetrix, PIDControl, reversed, encoder)
  #pragma config(Motor,  mtr_S2_C1_2,     backLeft,      tmotorTetrix, PIDControl, reversed, encoder)
  #pragma config(Motor,  mtr_S2_C2_1,     motorH,        tmotorTetrix, openLoop)
  #pragma config(Motor,  mtr_S2_C2_2,     motorI,        tmotorTetrix, openLoop)
  #pragma config(Servo,  srvo_S1_C2_1,    mainmanip1,           tServoStandard)
  #pragma config(Servo,  srvo_S1_C2_2,    mainmanip2,           tServoStandard)
  #pragma config(Servo,  srvo_S1_C2_3,    servo3,               tServoNone)
  #pragma config(Servo,  srvo_S1_C2_4,    servo4,               tServoNone)
  #pragma config(Servo,  srvo_S1_C2_5,    servo5,               tServoNone)
  #pragma config(Servo,  srvo_S1_C2_6,    servo6,               tServoNone)
  //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
  
  /**!!Code automatically generated by 'ROBOTC' configuration wizard               !!*/
  
  #include "JoystickDriver.c"
  #pragma DebuggerWindows("joystickSimple")
  /**!!Code automatically generated by 'ROBOTC' configuration wizard               !!*/
  
  
  
  /*Last edited Thursday Jan. 29, most current version as of Monday Feb 2*/
  
  
  
  /*
  Mecanum drive with Deadsone thresholds, gives the driver room for error when centering circle pads
  		-Left circle-pad
  				y-axis moves robot along y-axis
  				x-axis moves robot along x-axis
  					diagonally uses both axis'
  		-Right circle-pad
  				rotate robot according to x-axis
  */
  
  task main()
  {
  /*Loop Forever*/
  while(1 == 1)
  
  getJoystickSettings(joystick);
      motor[frontRight] = joystick.joy1_y1;
     	motor[backRight] = joystick.joy1_y1;
      motor[frontLeft] = joystick.joy1_y1;
      motor[backLeft] = joystick.joy1_y1;
  getJoystickSettings(joystick);
  		motor[frontRight] = joystick.joy1_x1;
  		motor[backRight] = joystick.joy1_x1;
  		motor[frontLeft] = joystick.joy1_x1;
  		motor[backLeft] = joystick.joy1_x1;
  getJoystickSettings(joystick);
  		motor[frontRight] = joystick.joy1_y2;
  		motor[backRight] = joystick.joy1_y2;
  		motor[frontLeft] = joystick.joy1_y2;
  		motor[backLeft] = joystick.joy1_y2;
  getJoystickSettings(joystick);
  		motor[frontRight] = joystick.joy1_x2;
  		motor[backRight] = joystick.joy1_x2;
  		motor[frontLeft] = joystick.joy1_x2;
  		motor[backLeft] = joystick.joy1_x2;
  
  	if (joystick.joy1_y1 < -15 && joystick.joy1_y1 > 15)
  			/*don't move on y-axis without input*/
  		motor[frontRight] = 0;
  		motor[backRight] = 0;
  		motor[frontLeft] = 0;
  		motor[backLeft] = 0;
  	if (joystick.joy1_x1 < -15 && joystick.joy1_x1 > 15)
  			/*don't move on x-axis without input*/
  		motor[frontRight] = 0;
  		motor[backRight] = 0;
  		motor[frontLeft] = 0;
  		motor[backLeft] = 0;
  
  		if (joystick.joy1_y1 < -128 && joystick.joy1_y1 > 15)
  			/*move forward*/
  		motor[frontRight] = -10;
  		motor[backRight] = -10;
  		motor[frontLeft] = -10;
  		motor[backLeft] = -10;
  	if (joystick.joy1_y1 < 127 && joystick.joy1_y1 > 15)
  			/*move backwards*/
  		motor[frontRight] = 10;
  		motor[backRight] = 10;
  		motor[frontLeft] = 10;
  		motor[backLeft] = 10;
  
  	if (joystick.joy1_x1 < 127 && joystick.joy1_x1 > 15)
  			/*move right*/
  		motor[frontRight] = 10;
  		motor[backRight] = -10;
  		motor[frontLeft] = -10;
  		motor[backLeft] = 10;
  	if (joystick.joy1_x1 < -128 && joystick.joy1_x1 > -15)
  			/*move left*/
  		motor[frontRight] = -10;
  		motor[backRight] = 10;
  		motor[frontLeft] = 10;
  		motor[backLeft] = -10;
  
  	if(joystick.joy1_x2 < 15 && joystick.joy1_x2 > -15)
  			/*do not rotate*/
  		motor[frontRight] = 0;
  		motor[backRight] = 0;
  		motor[frontLeft] = 0;
  		motor[backLeft] = 0;
  	if(joystick.joy1_x2 < 127 && joystick.joy1_x2 > 15)
  			/*rotate right*/
  		motor[frontRight] = 10;
  		motor[backLeft] = 10;
  		motor[frontRight] = -10;
  		motor[backRight] = -10;
  	if(joystick.joy1_x2 < -15 && joystick.joy1_x2 > -128)
  			/*rotate left*/
  		motor[frontRight] = -10;
  		motor[backRight] = -10;
  		motor[frontLeft] = 10;
  		motor[backLeft] = 10;
  }
  