[amateurrobotguy]

I am going to be non-secretive(As most teams are) and share my code in the UserRoutines.c . I am going to just hook up a spike instead of a speed controller. I figure hardware editing is quicker than software editing in this case. This snippet comes from the Buttons to Relay mapping part. Enjoy!

/*---------- Buttons to Relays----------------------------------------------
*--------------------------------------------------------------------------
* This default code maps the joystick buttons to specific relay outputs.
* Relays 1 and 2 use lim it switches to stop the movement in one direction.
* The & used below is the C symbol for AND
*/
if (p2_sw_trig<>0) /*If the opposites trigger is down. */
{
} /*Do nothing.*/
else
{
relay1_rev = p1_sw_trig & rc_dig_in01; /* REV only if switch1 is not closed. */
}
relay1_rev = p1_sw_top & rc_dig_in02; /* REV only if switch2 is not closed. */
if (p1_sw_trig<>0) /*Same as above. */
{
}
else
{
relay1_fwd = p2_sw_trig & rc_dig_in03; /* FWD only if switch3 is not closed. */
}
relay2_rev = p2_sw_top & rc_dig_in04; /* REV only if switch4 is not closed. */
relay3_fwd = p3_sw_trig;
relay3_rev = p3_sw_top;
relay4_fwd = p4_sw_trig;
relay4_rev = p4_sw_top;
relay5_fwd = p1_sw_aux1;
relay5_rev = p1_sw_aux2;
relay6_fwd = p3_sw_aux1;
relay6_rev = p3_sw_aux2;
relay7_fwd = p4_sw_aux1;
relay7_rev = p4_sw_aux2;
relay8_fwd = !rc_dig_in18; /* Power pump only if pressure switch is off. */
relay8_rev = 0;

All it does is wire Port 1 joystick trigger to reverse on our arm and port 2 trigger to forward. If a trigger is already down then ingnore the new command. I have very little C experience, so I hope this code is valid.