[gnormhurst]

Originally Posted by omega

This is what we have for our automous code but we want to go from the Navigate(); to what is beneath it when both of the sensors see nothing becuase we don't want to risk loseing all of that time.

I think you said it yourself, just say it in C:

void User_Autonomous_Code(void)
{
  while (autonomous_mode)   /* DO NOT CHANGE! */
  {
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {
        Getdata(&rxdata);   /* DO NOT DELETE, or you will be stuck here forever! */

        /* Add your own autonomous code here. */
   
   Navigate();   

  if ( NEITHER_SENSOR_SEES )
  {
   if(rc_dig_in01 ==1 )
     {
    pwm13 = 137;
    pwm14=100;
    }
     else
    {
    pwm13 = pwm14 = 140;
    }
   if(rc_dig_in02 == 1)
    {
    pwm13 = 100;
    pwm14 = 137;
    }
   else
    {
    pwm13 = pwm14 = 140;
    }
   } 
   Generate_Pwms(pwm13,pwm14,pwm15,pwm16);

        Putdata(&txdata);   /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}

However, it may be more appropriate to change Navigate() to keep going when blind. Are you using IR trackers?