[WizenedEE]

• Neither the top triplet nor the bottom triplet of while loops has a delay in them
• You may want to change those waits to the other kind of wait (wait until next multiple), becuase that's more accurate.
• The top triplet of loops will all execute at the same time; put a wire between them or use a sequence structure
• You may want to combine all of the stages of the top 9 loops into one, so they stay synchronized.
• When you stop on the last loop, you probably want to just put a false constant for the while loop so that it never ends; that way, the motors kept getting written to and don't give errors
• In the bottom loop, why do you write to a global and then immediately read it again instead of just using a wire?
• Check to see if there's a better way to calibrate the encoders than to just add a constant, but there may not be.
• To make it more readable, you may want to replace some of those one-input-one-output case structures with selects
• Instead of putting a not in the wire and then having a case structure, you could just swich around the cases. Again, not that important.
• Comments might be nice, but again not too important
• Your code is extremely clean, I'm impressed... I just punch the built in clean up button and live with it

That's everything I could find. Good luck with it though!