RobotProgram.c

#pragma config(Hubs,  S1, HTMotor,  HTMotor,  none,     none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Motor,  mtr_S1_C1_1,     m1,            tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     m2,            tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_1,     m3,            tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     m4,            tmotorTetrix, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c";

task main()
{
	while (true)
	{
		//Check Joystick 1
		//To move wheels
		if (joy1Btn(5) == 1)
		{
			motor[m1] = joystick.joy1_y1;
		}
		else
		{
			motor[m1] = 0;
		}

		if (joy1Btn(6) == 1)
		{
			motor[m2] = -(joystick.joy1_y2);
		}
		else
		{
			motor[m2] = 0;
		}

		//Set arm motors to joystick 2 values
		motor[m3] = joystick.joy2_y1;
		
		if (joy2_Btn(1) == 1) //If you need to use the first joystick, change it to: joy1_Btn(1)
        {
            if (motor[m4] == 0) //If you need to use a different motor, change every "m4" to whichever motor you need
            {
                motor[m4] = 100; //If you need the motor to go at a different speed, change the "100" here to the speed you need.
                                 //This number is a percentage - 100 is 100% speed, 50 is 50% speed, etc.
            }
            else
            {
                motor[m4] = 0;
            }
        }
	}
}