Chief Delphi - Help with Hybrid code

I have been having trouble with my Hybrid mode setup. I'm not sure what exactly is the problem, but I have been led to believe it is my sometimes flawed programming. :o (See my other posts if you don't believe me). I am using the provided IR board, and with a regular IR remote setup, for a VCR remote. The outputs are (supposedly) wired into Digital In/Out ports #1-4, and the IR board is receiving power.

Here is my code (it's a bit un-simplified, so propagators of KISS please don't complain too much)

Code:

/* Some globals: */

unsigned char offsensor1;

unsigned char offsensor2;

unsigned char offsensor3;

unsigned char offsensor4;



/* Initialize */

void Initialize(void)

{

   InitIRSensor();

   /* ... */

}



/* InitIRSensor */

void InitIRSensor(void)

{

   offsensor1 = GetDigitalInput(1);

   offsensor2 = GetDigitalInput(2);

   offsensor3 = GetDigitalInput(3);

   offsensor4 = GetDigitalInput(4);

}



/* Autonomous */

void Autonomous(void)

{

   unsigned char irsensor1;

   unsigned char irsensor2;

   unsigned char irsensor3;

   unsigned char irsensor4;

   int action = 0;

   

   while( IsAutonomous() )

   {

      irsensor1 = GetSensorInput(1);

      irsensor2 = GetSensorInput(2);

      irsensor3 = GetSensorInput(3);

      irsensor4 = GetSensorInput(4);

      if ((irsensor1 + irsensor2 + irsensor3 + irsensor4) >= 2)

      {

         action = 0;

      }

      else if (irsensor1)

      {

         action = 1;

      }

      else if (irsensor2)

      {

         action = 2;

      }

      else if (irsensor3)

      {

         action = 3;

      }

      else if (irsensor4)

      {

         action = 4;

      }

      else

      {

         action = 0;

      }

      HybridAction(action);

   }

}



/* GetSensorInput */

unsigned char GetSensorInput(int sensorPort)

{

   unsigned char value;

   switch(sensorPort)

   {

      case 1:

      {

         value = offsignal1;

         break;

      }

      case 2:

      {

         value = offsignal2;

         break;

      }

      case 3:

      {

         value = offsignal3;

         break;

      }

      case 4:

      {

         value = offsignal4;

         break;

      }

   }

   return(GetDigitalInput(sensorPort) == value);

}