Nothing But Net Code

//Quad Values
int fireStop = 0;
int loadStop = 0;
int gateOpen = 0;
int gateClosed = 0;

/*
Catapult motor power for certain distances
Short = 1/2 Court (0)
Mid = 3/4 Court (1)
Long = Full Court (2)
*/
int distance = 0;
int shortPower = 65;
int midPower = 70;
int longPower = 75;

int holdPower = -15;
int loadPower = -127;

bool intakeRunning = true;
bool isGate = true;
int armStatus = 0;
int gateStatus = 0;

/*
Maintains desired arm position using Quad
Three States:
-Loaded (0)
-Firing (1)
*/
task armPosition(){
  while(true){
    if(armStatus == 1 && SensorValue[ballSonic] < 70){

      //Open gate to start loading of another ball
      gateStatus = 1;
      int speed;
      switch(distance){
        case 0:
        speed = shortPower;
        break;

        case 1:
        speed = midPower;
        break;

        case 2:
        speed = longPower;
        break;

        default:
        speed = 0;
        break;
      }
      //Fire currently loaded ball
      while(SensorValue[armQuad] < fireStop){
        if(speed == 0){
          break;
        }
        motor[yOne] = speed;
        motor[yTwo] = speed;
        motor[yThree] = speed;
      }
      motor[yOne] = 0;
      motor[yTwo] = 0;
      motor[yThree] = 0;

      //Bring arm back down
      while(SensorValue[armQuad] > loadStop){
        motor[yOne] = loadPower;
        motor[yTwo] = loadPower;
        motor[yThree] = loadPower;
      }
      motor[yOne] = holdPower;
      motor[yTwo] = holdPower;
      motor[yThree] = holdPower;

      //Set arm to LOADED state
      armStatus = 0;
    }
  }
}

/*
Maintains desired gate position using Quad
Three States:
-Closed (0)
-Open (1)
*/
task gatePosition(){
  while(true){
    int lastStatus = gateStatus;
    if(intakeRunning){
      motor[intake] = 127;
    }else{
      motor[intake] = 0;
    }

    if(SensorValue[ballSonic] < 70 && armStatus = 0){
      ballSeen = true;
      gateStatus = 0;
    }

    if(lastStatus != gateStatus){
      if(gateStatus == 1){
        while(SensorValue[gateQuad] > gateOpen){
          motor[gate] = 127;
        }
        motor[gate] = -127;
        wait1Msec(2);
        motor[gate] = 0;
      }

      if(gateStatus == 0){
        intakeRunning = false;
        while(SensorValue[gateQuad] < gateClosed){
          motor[gate] = -127;
        }
        motor[gate] = 127;
        wait1Msec(2);
        motor[gate] = 0;
      }
    }
  }
}

//Monitors how many balls are in the bot (will shut off intake after seeing 4 balls)
task ballCounter(){

}

task autonomous(){

}

task usercontrol(){

  /*
  ***** MOVE THESE INTIALIZATIONS TO BEGINNING OF AUTONOMOUS WHEN READY *****
  */
  gateStatus = 0;
  armStatus = 0;
  SensorValue[armQuad] = 0;
  SensorValue[gateQuad] = 0;
  startTask(armPosition);
  startTask(gatePosition);
  while(true){

    //Firing Controls
    if(vexRT[Btn7U] == 1){
      distance = 2;
      armStatus = 1;
    }else{
      if(vexRT[Btn7L] == 1){
        distance = 1;
        armStatus = 1;
      }else{
        if(vexRT[Btn7D] == 1){
          distance = 0;
          armStatus = 1;
        }else{
          if(vexRT[Btn7R] == 1){
            gateStatus = 1;
          }
        }
      }
    }
  }
}