Mountain Dew

#pragma config(Sensor, in1,    ,               sensorPotentiometer)
#pragma config(Sensor, in2,    ,               sensorReflection)
#pragma config(Sensor, in3,    L,              sensorLineFollower)
#pragma config(Sensor, in4,    C,              sensorLineFollower)
#pragma config(Sensor, in5,    R,              sensorLineFollower)
#pragma config(Sensor, dgtl1,  LeftLimitSwitch, sensorTouch)
#pragma config(Sensor, dgtl2,  RightLimitSwitch, sensorTouch)
#pragma config(Sensor, dgtl3,  UltrasonicRangeFinder, sensorSONAR_cm)
#pragma config(Sensor, dgtl6,  BumperSwitch,   sensorTouch)
#pragma config(Sensor, dgtl7,  OpticalShaftEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl10, Red,            sensorLEDtoVCC)
#pragma config(Sensor, dgtl11, Yellow,         sensorLEDtoVCC)
#pragma config(Sensor, dgtl12, Green,          sensorLEDtoVCC)
#pragma config(Motor,  port2,            ,             tmotorVex393_MC29, openLoop, driveRight)
#pragma config(Motor,  port3,            ,             tmotorVex393_MC29, openLoop, driveLeft)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
	int speed = 0;
	speed = SensorValue(sensorPotentiometer)/32;
		while(SensorValue(BumperSwitch) ==0)
		{
			while(true)
  	{
			if(SensorValue(UltrasonicRangeFinder) >25)
		{
				startMotor(port2,63);
				startMotor(port3,63);
		}
			else
		{
				motor[port2] = -speed;
				motor[port3] = speed;
				wait(1.5);
					if(SensorValue(UltrasonicRangeFinder) <25)
		{				 motor[port2] = speed;
					   motor[port3] = -speed;
						 wait(3.0);
}
}
}
}
}