Thx to all of you ! I got some great tips here and I finally got this to work..
The saftey config was the main problem, putting the drive command in the loops made it move - but it didn't move smoothly.
The second problem which I encountered was that the Crio couldn't handle both of the loops so it gave the right a value, stopped it, gave the other side a value and so on...
Finally I made one loop (to rule them all!) simiilar to Stephen's (propionate) idea, thanks alot !
I might be uploading an image of the correct code soon
