[artdutra04]

          Left Joystick:                           Right Joystick:
           [drive fwd]                               [arm up]
                ^                                       ^ 
                |                                       |
[drive left]<------->[drive right]       [claw open]<------->[claw close] 
                |                                       |
                v                                       v
           [drive rev]                              [arm down]

Using the joystick as mapped above, try using this code:

#include "Main.h"

void main ( void )
{
      unsigned char arm; // Create a unsigned char variable called arm

      while ( 1 )
      {
            // The Arcade Drive Code Block 
            // Connect The Left Drive Motor to Port 1 
            // Connect The Right Drive Motor to Port 2 
            Arcade2 ( 1 , 3 , 4 , 1 , 2 , 0 , 0 ) ;
            // The Arm Drive Code 
            // Connect the Arm Motors to Ports 3 and 4 
            arm = GetRxInput ( 1 , 2 ) ;
            SetPWM ( 3 , arm ) ;
            SetPWM ( 4 , arm ) ;
            // The Claw / Grabber Code 
            // Connect the Claw Motor to Port 5 
            MotorRcControl ( 1 , 1 , 5 , 0 ) ;
      }
}