[Omar]

Try this code. The VI is 8.6 but 2012 will open it.

You could just drop the VI on to your block diagram and wire up the DIO, Distance, Joystick button and the Motor Speed.

You are still at risk of having the system getting out of sync with the levels especially if the robot starts in between the positions and returns a current level of zero (0). You might have to create manual override if the shooter gets out of sync due to the dead zones in between limit switches or out side of the limit switches.

The init on the motor speed feedback should be 0.2