[Ethan Spitz]

What do you mean it makes the servos reverse themselves?

Also, I don't see how that works if the counter resets itself each time, it wouldn't stay I don't believe

int touch = 1;
//put variable before while loop

if(joy2Btn(1)) {
   if(touch == 1){
     touch = 0;
   }else{
     touch = 1;
   }
}

//you may want a really short wait here so when you press the button it does not switch back to original really quick

if(touch == 1){
  servo[ServoB] = 100;
}else{
  servo[ServoB] = 0;
}