Help Needed please

[viperred396]

Due to some unfortunate circumstances we have lost our programming team and code. Because of this and our upcoming regional (Colorado) we are in need for some dire help.
Our code, we think, isn’t that hard to do and would appreciate any and all help that we could get.
Our current set up is 4 jaguars powering 2 CIMple boxes (2 CIMs per trany) and a spike powering a window motor.

What we would like the code to be able to do would be run a tank drive system where if either of the 2 triggers are pressed on the joystick then we can run our CIMs at 50% speed and if the buttons are not pressed then we can run the CIMs at 100% speed.
The spike controls our window motors which raises and lowers two “wings”. What would be nice if this could with a button push on a joystick turn the winch until a limit switch is pressed turning the motor off, then when the same (or another button) is pressed the motor then reverses and raises the wings until another limit switch is pressed.

Thanks for anything you can do,
Bryan Fisher
Team Captain 2240 - Brute Force