[KaiserTom]

I would keep the while loop and just have it be in a case structure that only executes it when the button is pressed and then have another button inside that while loop connected to the loop stop in case the robot happens to go off course during a match or you need to do something else, like say deploy a mini-bot, you don't want to be stuck hanging a tube worth at most 6 points vs a minibot worth AT MINIMUM 10 do you?


I wouldn't rely on the E-Stop to stop it since that requires a hard reset, at least in my teams experience, which is a little too over-excessive IMO.

But be aware it will only work for the middle pegs on the straight and the left halve right column and right halve left column for the Y. You will still have to manually control it for the other columns.