#pragma config(Sensor, dgtl4,  bttn,           sensorTouch)
#pragma config(Motor,  port3,           leftMotor,     tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port5,           rightMotor,    tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           armMotor,      tmotorVex393_MC29, openLoop)

//+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++

task main()
{
  while(1 == 1)
  {
    //Driving Motor Control
    motor[leftMotor] = vexRT[Ch3] / 2;
    motor[rightMotor] = vexRT[Ch2] / 2;

    //Arm Control
    if(vexRT[Btn6U] == 1)
    {
      motor[armMotor] = 40;
    }
    else if(vexRT[Btn6D] == 1)
    {
      motor[armMotor] = -40;
    }
    else
    {
      motor[armMotor] = 0;
    }

  if (SensorValue [bttn] == 1)
  {
  	motor[leftMotor] = 40; // Start of run 1
 		motor[rightMotor] = 55;
 		wait1Msec(3000);
 		motor[leftMotor] = 0;
 		motor[rightMotor] = 0;
 		motor[armMotor] = -40;
 		wait1Msec(500);
 		motor[armMotor] = 0;
 		wait1Msec(1000);
		motor[armMotor] = 40;
 		wait1Msec(300);
 		motor[armMotor] = 0;
 		motor[leftMotor] = -40;
 		motor[rightMotor] = -40;
 		wait1Msec (3000);
 		motor[leftMotor] = 0;
 		motor[rightMotor] = 0;
 		wait1Msec (3000); // End of run 1
 		motor[rightMotor] = 40;
 		wait1Msec (500);
 		motor[rightMotor] = 0;
 		wait1Msec (1000);
 		motor[leftMotor] = 40; // Start of run 2
 		motor[rightMotor] = 55;
 		wait1Msec(3000);
 		motor[leftMotor] = 0;
 		motor[rightMotor] = 0;
 		motor[armMotor] = -40;
 		wait1Msec(500);
 		motor[armMotor] = 0;
 		wait1Msec(1000);
		motor[armMotor] = 40;
 		wait1Msec(300);
 		motor[armMotor] = 0;
 		motor[leftMotor] = -40;
 		motor[rightMotor] = -40;
 		wait1Msec (3000);
 		motor[leftMotor] = 0;
 		motor[rightMotor] = 0; // End of run 2
 	}

}


}

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++