void usercontrol(void) {
//vex::thread n(pusher);
enableDrivePID = false;
// User control code here, inside the loop
while (1) {
float input_h = Controller1.Axis1.value()/12.0;
float input_v = Controller1.Axis2.value()/12.0;
float maxVolt = 12;
float deadzone = 6;
//0>127
//deadzone
input_h = input_h*(std::abs(input_h) >= deadzone);
input_v = input_v*(std::abs(input_v) >= deadzone);
RightFrntmotor.spin(vex::directionType::rev,(input_h + input_v)*maxVolt, vex::voltageUnits::volt);
RightBckmotor.spin(vex::directionType::rev, (input_h + input_v)*maxVolt, vex::voltageUnits::volt);
LeftFrntmotor.spin(vex::directionType::fwd, (input_h - input_v)*maxVolt, vex::voltageUnits::volt);
LeftBckmotor.spin(vex::directionType::fwd, (input_h - input_v)*maxVolt, vex::voltageUnits::volt);
CallOfDuty.spin(vex::directionType::fwd, -Controller1.ButtonR2.pressing()*12, vex::voltageUnits::volt);
CallOfDuty2.spin(vex::directionType::fwd, -Controller1.ButtonR2.pressing()*12, vex::voltageUnits::volt);
if( Controller1.ButtonL2.pressing() ){
solenoid.set( true );
}if( Controller1.ButtonL1.pressing()){
solenoid.set( false );
wait(20,msec);
}