[DominickC]

If this code is located within Periodic Tasks and runs with a 100ms or even a 50ms delay, will any problems be caused if the code is not finished within 100 or 50ms? This code, along with other stuff, helps the second driver aim and shoot. Everything is tested and is working save the first frame of the Sequence Structure. Sorry for the messy coding in there! It basically squares the bot up with the nearest wall and seeing if the distances fall within an acceptable difference.