// SUBSUMPTION - sum up amplified contributions
task subsumption() {
    while(true) {
        lTotalMotorAct =
                (((lWanderMotorContrib * wanderAmp)
            + lSeekMotorContrib) * seekAmp)
            + lAvoidMotorContrib;

        rTotalMotorAct =
            (((rWanderMotorContrib * wanderAmp)
            + rSeekMotorContrib) * seekAmp)
            + rAvoidMotorContrib;

        DriveLeftMotor((int)(lTotalMotorAct * MOTOR_MAX));
        DriveRightMotor((int)(rTotalMotorAct * MOTOR_MAX));

        EndTimeSlice();
    }
}