[KenWittlief]

whats going to happen with your code, as soon as

WHILE locked = 0

becomes true, your while loop becomes an infinite loop - it never exits, so your code will never see new input values from the operator interface - it will act like the trigger never gets released

but the supervisor uC will shut the robot down within a second or two anyway, and your bot will act like its been disabled.

Also: your light scrolling- the code needs to flow though to the end before any outputs get updated, so the only output that would happen would be the last values you assign to each output variable.