[mikets]

Basicxman,
That's why I said it's not the best way. What you are doing is essentially a state machine. That's the preferred way to do it. In general, one should be able to code the entire competition without using a single wait loop. Whenever you need to wait, you return. And the next time you get called, you check the condition again. If it's still not ready, you return again. When it is finally ready, you move on to the next state. Using a state machine not only allows you to eliminate wait loops, it also allow you to do several things concurrently. For example, moving your claw while tracking the line simultaneously.