CODE

#pragma config(Sensor, dgtl1,  leftEncoder,    sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  rightEncoder,   sensorQuadEncoder)
#pragma config(Motor,  port1,           rightMotor,    tmotorVex393_HBridge, openLoop, reversed)
#pragma config(Motor,  port10,          leftMotor,     tmotorVex393_HBridge, openLoop)


task main()
{
    wait1Msec(2000);                                        //Robot waits for 2000 milliseconds before executing program

    SensorValue[rightEncoder] = 0;            //Set the encoder so that it starts counting at 0
  SensorValue[leftEncoder] = 0;

  while(SensorValue(rightEncoder) < 3800)   //While rightEncoder has counted less than 1800 counts
    {

        motor[rightMotor] = 115;                          //Motor on port2 is run at full (127) power forward
        motor[leftMotor]  = 115;                        //Motor on port3 is run at full (-127) power reverse
    }

     motor[rightMotor] = 0;
     motor[leftMotor]  = 0;
    SensorValue[rightEncoder] = 0;
  SensorValue[leftEncoder] = 0;

  wait1Msec(1000);

  while(SensorValue(rightEncoder) < 870)    //While leftEncoder has counted less than 1800 counts
    {

        motor[rightMotor] = 93;                     //Motor on port2 is run at full (-127) power reverse
        motor[leftMotor]  = -27;                        //Motor on port3 is run at full (127) power forward
}

     motor[rightMotor] = 0;
     motor[leftMotor]  = 0;
    SensorValue[rightEncoder] = 0;
  SensorValue[leftEncoder] = 0;


     wait1Msec(1000);

  while(SensorValue(rightEncoder) < 300)   //While rightEncoder has counted less than 1800 counts
    {

        motor[rightMotor] = 90;                       //Motor on port2 is run at full (127) power forward
        motor[leftMotor]  = 90;

  }


     motor[rightMotor] = 0;
     motor[leftMotor]  = 0;
    SensorValue[rightEncoder] = 0;
  SensorValue[leftEncoder] = 0;

  wait1Msec(1000);

  while(SensorValue(rightEncoder) < 670)    //While leftEncoder has counted less than 1800 counts
    {

        motor[rightMotor] = 93;                     //Motor on port2 is run at full (-127) power reverse
        motor[leftMotor]  = -27;                        //Motor on port3 is run at full (127) power forward
}

     motor[rightMotor] = 0;
     motor[leftMotor]  = 0;
    SensorValue[rightEncoder] = 0;
  SensorValue[leftEncoder] = 0;


  wait1Msec(1000);

  while(SensorValue(rightEncoder) < 3900)   //While rightEncoder has counted less than 1800 counts
    {

        motor[rightMotor] = 110;                          //Motor on port2 is run at full (127) power forward
        motor[leftMotor]  = 110;

  }
}