task usercontrol(){
	int DY, DT;
	bool armsLocked = false;

	while(true){
		//Driving
		DY = threshold(PAIRED_CH2, 15) + (PAIRED_BTN8U * MAX_POWER) - (PAIRED_BTN8D * MAX_POWER);
		DT = threshold(PAIRED_CH1, 15) + (PAIRED_BTN8R * MAX_POWER) - (PAIRED_BTN8L * MAX_POWER);
		drive(DY, DT);

		//Pistons (toggle)
		if(PAIRED_BTN7R){
			pistons(!PISTON_POS);
			waitUntil(!PAIRED_BTN7R);
		}

		//Arms
		if(PAIRED_BTN7L){
			armsLocked = !armsLocked;
			waitUntil(!PAIRED_BTN7L);
		}
		if(armsLocked){
			arms(ARM_LOCK);
		} else {
			arms(threshold(PAIRED_CH3, 15) + ((PAIRED_BTN5U - PAIRED_BTN5D) * MAX_POWER));
		}

		//Lift
		lift((PAIRED_BTN7U - PAIRED_BTN7D) * MAX_POWER);

		//Intake
		intake((PAIRED_BTN6U - PAIRED_BTN6D) * MAX_POWER);
	}
}

task usercontrol(){
	int DY, DT;
	bool armsLocked = false;

	while(true){
		//Driving
		DY = threshold(PAIRED_CH2, 15) + (PAIRED_BTN8U * MAX_POWER) - (PAIRED_BTN8D * MAX_POWER);
		DT = threshold(PAIRED_CH1, 15) + (PAIRED_BTN8R * MAX_POWER) - (PAIRED_BTN8L * MAX_POWER);
		drive(DY, DT);

		//Pistons (toggle)
		if(PAIRED_BTN7R){
			pistons(!PISTON_POS);
			waitUntil(!PAIRED_BTN7R);
		}

		//Arms
		if(PAIRED_BTN7L){
			armsLocked = !armsLocked;
			waitUntil(!PAIRED_BTN7L);
		}
		if(armsLocked){
			arms(ARM_LOCK);
		} else {
			arms(threshold(PAIRED_CH3, 15) + ((PAIRED_BTN6U - PAIRED_BTN6D) * MAX_POWER));
		}

		//Lift
		lift((PAIRED_BTN7U - PAIRED_BTN7D) * MAX_POWER);

		//Intake
		intake((PAIRED_BTN5U - PAIRED_BTN5D) * MAX_POWER);
	}
}

Swap back the arm and intake buttons
Swap back the arm and intake buttons

Erik didn't like the change since he was very used to the old
layout. It made sense at the time to put the arm joystick and
buttons on the same side, but I guess not.
