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Originally Posted by rcubes85
I was wondering do any one know what we have to do so that we can use one of the buttons on this joystick to do some let say move the robot to a certain position.
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JBotAlan has pointed out how the code can essentially copy the OI switches to RC relay outputs. If you want to do anything fancier than that, you'll have a lot more programming in front of you. There are feedback sensors on robot joints, accelerometers and angular rate sensors, PID controls, etc... Get specific with your questions and we can give you specific help on how to do what you want.
(The section of the code you quoted is just providing "easy" names for the bits of communication from the master CPU that represent the state of the joystick switches.)