[Greg McKaskle]

The attached image shows some of the useful techniques that may help. You can even make some of these into subVIs for use elsewhere.

I'd encourage you to build this with the button, right click on the button and change the mechanical action to a "switch until released", and run it on the My Computer. You can place probes on any of the wires or add indicators to them to understand how the values change when you interact. Then, when you understand and trust it, move it to the robot simply by retargeting it or by copying the code or using the subVIs.

Ask questions if parts of it don't make sense or you want to compare it to your approach.

Greg McKaskle