text: #pragma config(Motor,  motorA,          winch,         tmotorNXT, PIDControl, encoder)
  #pragma config(Motor,  motorB,          truck,         tmotorNXT, PIDControl, encoder)
  #pragma config(Motor,  motorC,          turntable,     tmotorNXT, PIDControl, encoder)
  #pragma config(Sensor, S1,     HTIRR,               sensorI2CCustom)
  //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
  
  #include "hitechnic-irrecv.h"
  
  // Motor speed Multipliers
  #define WINCH_MULT 0.5
  #define TRUCK_MULT 1
  #define TURNTABLE_MULT 1
  
  task main() {
  	sbyte _motA = 0;
    sbyte _motB = 0;
    sbyte _motC = 0;
    sbyte _motD = 0;
   	while(1) {
   		// Min: -100 Max: 100 Mid: 0
    	HTIRRreadChannel(HTIRR, 1, _motA, _motC);
    	HTIRRreadChannel(HTIRR, 2, _motB, _motD);
    	if(_motA != 0)
    		motor[motorA] = _motA * WINCH_MULT;
    	else
    		motor[motorA] = 0;
    	if(_motB != 0)
    		motor[motorB] = _motB * TRUCK_MULT;
    	else
    		motor[motorB] = 0;
    	if(_motC != 0)
    		motor[motorC] = _motC * TURNTABLE_MULT;
    	else
    		motor[motorC] = 0;
    }
  }
  