text: #pragma config(Motor,  port1,           angular,       tmotorNone, openLoop)
  #pragma config(Motor,  port2,           rightm,        tmotorVex393_MC29, openLoop)
  #pragma config(Motor,  port6,           claw_turn,     tmotorVex393_MC29, openLoop)
  #pragma config(Motor,  port7,           claw_grip,     tmotorVex393_MC29, openLoop)
  #pragma config(Motor,  port10,          leftm,         tmotorVex393_HBridge, openLoop)
  //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
  
  /*----------------------------------------------------------------------------------------------------*\
  |*															- Dual Joystick Control with 4 Motors -																*|
  |*																			ROBOTC on VEX 2.0 Cortex																			*|
  |*																																																		*|
  |*	This program uses both the Left and the Right joysticks to run the robot using "tank control".		*|
  |*																																																		*|
  |*																				ROBOT CONFIGURATION																					*|
  |*		NOTES:																																													*|
  |*		1)	Reversing both right-side motors (ports 2 and 3) in the "Motors and Sensors Setup" is				*|
  |*				needed with the "VEX Tumbler" model, but may not be needed for all robot configurations.		*|
  |*		2)	Ch1 is the X axis and Ch2 is the Y axis for the RIGHT joystick.															*|
  |*		3)	Ch3 is the Y axis and Ch4 is the X axis for the LEFT joystick.															*|
  |*																																																		*|
  |*		MOTORS & SENSORS:																																								*|
  |*		[I/O Port]					[Name]								[Type]								[Description]										*|
  |*		Motor Port 2				frontRightMotor				VEX 3-wire module			Right side motor								*|
  |*		Motor Port 3				backRightMotor				VEX 3-wire module			Right side motor								*|
  |*		Motor Port 4				frontLefttMotor				VEX 3-wire module			Left side motor									*|
  |*		Motor Port 5				backLeftMotor					VEX 3-wire module			Left side motor									*|
  \*----------------------------------------------------------------------------------------------------*/
  
  
  //+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++
  void autonclaw(){
  motor[claw_grip] = -100;
  wait (1);
  }
  task main()
  {
  	//left side of the robot is controlled by the right joystick, Y-axis
  	motor[leftm] = vexRT[Ch3];
  	//righ side of the robot is controlled by the left joystick, Y-axis
  	motor[rightm] = vexRT[Ch2];
  	//Claw buttons
  	motor[claw_grip] = 0;
  	if (vexRT[Btn8D] == 1)
  	{
  		motor[claw_grip] = 10;
  	}
  	if(vexRT[Btn8U] == 1)
  	{
  		motor[claw_grip] = -10;
  	}
  	//Claw Turning
  	motor[claw_turn] = 0;
  	if (vexRT[Btn7L] == 1)
  	{
  		motor[claw_turn] = 20;
  	}
  	if(vexRT[Btn7R] == 1)
  	{
  		motor[claw_turn] = -20;
  	}
    if(VexRT[Btn5U] == 1){
    autonclaw();
    }
  }
  //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  