[Kevin Selavko]

Originally Posted by Spacemonkey619

Yes I did put the while(true) brackets around the entire code, still it only moved the arm and line tracked forward forever. The code above me only went backwards forever. I can't believe these small problems sometimes.

This should do more what you want maybe? Wait untill the button is pressed, move arm, follow line, move stuff around, reverse on line, wait for button again.

I also changed the encoders to an absulate value comparison so it wont matter if you have the tick calculations wrong.

#pragma config(Sensor, in1, pot, sensorPotentiometer)
#pragma config(Sensor, in3, LineLeft, sensorLineFollower)
#pragma config(Sensor, in4, LineRight, sensorLineFollower)
#pragma config(Sensor, in5, LineCenter, sensorLineFollower)
#pragma config(Sensor, dgtl1, touch, sensorTouch)
#pragma config(Sensor, dgtl2, Encoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl7, Encoder2, sensorQuadEncoder)
#pragma config(Motor, port2, arm, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port3, elbow, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port7, rightMotor, tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor, port8, leftMotor, tmotorServoContinuousRotation, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

int threshold = 2000;
void lineFollower(int speed);
void stopAllMotors();

task main()
{
	while(true)
	{

		if(SensorValue(touch) == 0)
		{
			stopAllMotors();
		}

		if(SensorValue(touch) == 1)
		{
			motor[elbow] = -63;
			wait1Msec(1500);
			motor[elbow] = 0;

			SensorValue[Encoder] = 0;
			while(abs(SensorValue[Encoder]) < 210)
			{
				lineFollower(60);
			}

			motor[arm] = 63;  // Brackets were wraped around this, is there suposed to be a loop or somthing here?
			wait1Msec(2000);

			motor[elbow] = 63;
			wait1Msec(200);

			motor[rightMotor] = 0;
			motor[leftMotor] = 0;
			wait1Msec(1000);

			motor[arm] = -63;
			wait1Msec(1800);

			motor[elbow] = -63;
			wait1Msec(2500);

			motor[elbow] = 0;
			wait1Msec(1000);

			motor[rightMotor] = -43;
			motor[leftMotor] = -43;
			wait1Msec(500);

			SensorValue[Encoder] = 0;

			while(abs(SensorValue[Encoder]) < 450)
			{
				lineFollower(-60);
			}
		}
	}
}

void lineFollower(int speed)  // Can help clean up your code and make it easier to read
{

	if(SensorValue(LineRight) > threshold && SensorValue(LineCenter) > threshold)
	{ // Added a slight turn to have a bit of a gentler correction when the robot is not that far off the line
		motor[leftMotor] = speed;
		motor[rightMotor] = (speed / 2);
	}
	else if(SensorValue(LineLeft) > threshold && SensorValue(LineCenter) > threshold)
	{
		motor[leftMotor] = 0;
		motor[rightMotor] = (speed / 2);
	}
	else if(SensorValue(LineCenter) > threshold)
	{
		motor[leftMotor] = speed;
		motor[rightMotor] = speed;
	}
	else if(SensorValue(LineRight) > threshold)
	{
		motor[leftMotor] = speed;
		motor[rightMotor] = 0;
	}
	else if(SensorValue(LineLeft) > threshold)
	{
		motor[leftMotor] = 0;
		motor[rightMotor] = speed;
	}
	else
	{
		motor[leftMotor] = 0;
		motor[rightMotor] = 0;

	}
}

void stopAllMotors()
{
		motor[leftMotor] = 0;
		motor[rightMotor] = 0;
		motor[elbow] = 0;
		motor[arm] = 0;	
}