Help Programming Joystick in VEXcode

I am trying to make a hexapod with V5 parts but I can not figure out how to program the joystick to be able to make 3 of the legs work and then the other 3. Is there a way to do this in VEXcode?

given that your robot is mechanically capable, yes. We’d need to know more about how you made the hexapod to help program it though.

PM me and I can help create an API for semiautonomous motion.

The one further down is a top view and the other is a side view. I don’t know if that is helpful I can get actual pictures of it later.