[Greg McKaskle]

Inside the loop, the code compares the millisecond tick time to 1500. The millisecond tick is relative to when the robot booted, or when the app started, and keeps going up until it wraps. More than likely, the code should take the time when the button latched, subtract from the current time, and compare to 1500.

Also, personally, I'd take the time, X, and Y, and write them to a single file rather than having the data spread amongst two with duplicated times. This also extends if you add a manipulator or another degree of freedom to the robot or even sensor values that record the response of the robot.

Greg McKaskle