[ehochstein]

#pragma config(Hubs,  S1, MatrxRbtcs, none,     none,     none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Motor,  mtr_Matrix_S1_1, motorD,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_Matrix_S1_2, motorE,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_Matrix_S1_3, motorF,        tmotorMatrix, openLoop)
#pragma config(Motor,  mtr_Matrix_S1_4, motorG,        tmotorMatrix, openLoop)
#pragma config(Servo,  srvo_Matrix_S1_1, servo1,               tServoNone)
#pragma config(Servo,  srvo_Matrix_S1_2, servo2,               tServoNone)
#pragma config(Servo,  srvo_Matrix_S1_3, servo3,               tServoNone)
#pragma config(Servo,  srvo_Matrix_S1_4, servo4,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "JoystickDriver.c"

task main()
{
  servo[servo1] = -127;
  wait1Msec(500);

  while (true)
  {
  	getJoystickSettings(joystick);
  	if(joy1Btn(00) == true)
  		servo[servo1] = 127;
  }
}

Try this and see if you can figure out what I changed.