/* Add to user_routines.c */

/* Arm & lifter control */

pwm00 = p3_y; /* change pwm */

int lifter_state;
/* Relay 1 - claw */
relay1_fwd = p3_sw_trig; /* mapped to joystick trigger */
relay1_rev = 0; /* reverse is always off */
/* Relay 2 - "inner extender" */
relay2_fwd = p4_sw_aux1; /* mapped to port 4, switch 1 */
relay2_rev = 0; /* reverse is always off */
/* Relay 3 - "outer extender" */
relay3_fwd = p4_sw_aux2; /* mapped to port 4, switch 2 */
relay3_rev = 0; /* reverse is always off */
/* Relay 4 & 5 - lifter */
/* mapped to port 4, "joystick trigger" */

if (p4_sw_trig = 1)
{
relay4_fwd = p4_sw_trig; /* deploy lifter */
lifter_state = 1;
}
if ((p4_sw_trig = 1) && (lifter_state = 1))
{
relay5_fwd = p4_sw_trig; /* lift */
lifter_state = 2;
}
if ((p4_sw_trig = 1) && (lifter_state = 2))
{
relay4_fwd = 0; /* turn off pneumatics */
relay5_fwd = 0;
lifter_state = 0;
}