[Kevin Selavko]

Last edit Im going to do

#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;
bool continueRunning = true;
void lineFollower(int speed);
void stopAllMotors();
task checkForButtonPress();

task main()
{
	while(true)
	{

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

		if(SensorValue(touch) == 1)
		{
			while(SensorValue(touch) == 1) // Wait for release
			{
			}
			StartTask(checkForButtonPress);
			while(continueRunning)
			{
				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;
}

task checkForButtonPress()
{continueRunning = true;
	while(true)
	{
		if(SensorValue(touch) == 1)
			continueRunning = false;

	}
}