[Tureyhall]

The obvious problems have been fixed:

unsigned char check;
unsigned char topcheck;


\*---------------------------ramp control-------------------------------*/

if (p3_sw_top == 1 && topcheck == 0)            // Press top button, kick cylinder extends; press top button cylinder retracts
    {
    SetRelay ( 2 , 1 ,0 ) ;
    topcheck = 1; 
    }
else if (p3_sw_top == 1 && topcheck == 1)
    {
    SetRelay ( 2 , 0 ,1 ) ;
    topcheck = 0; 
    }


if (p3_sw_trig == 1 && check == 0)              // Press trigger... Hippo folds down and ramp folds out; Press again, reset.
    {
    SetRelay ( 3 , 1 ,0 );
    SetRelay ( 4 , 0 , 1 );
    SetRelay ( 5 , 1 ) ;
    check = 1; 
    }
else if (p3_sw_trig == 1 && check == 1)
    {
    SetRelay ( 3 , 0 ,1 ) ;
    SetRelay ( 4 , 1 , 0 );
    SetRelay ( 5 , 0 ) ;
    check = 0; 
    }


/*----------------------------Arm control------------------------------------*/


if (p4_sw_aux1 == 1)                 // if top red switch is up, Hippo is up and Jaw is closed
    {
    SetRelay ( 4 , 1 , 0 ) ;
    SetRelay ( 5 , 1 );
    }

if (p4_sw_aux1 == 0)                // if top red switch is down, Hippo is down and Jaw is open
    {
    SetRelay ( 4 , 0 , 1 ) ;
    SetRelay ( 5 , 0 );
    }

if (p4_sw_aux2 == 1)                // if bottom red switch is up, Hippo is down and Jaw is closed (ramp down)
    {
    SetRelay ( 4 , 0 , 1 ) ;
    SetRelay ( 5 , 1 );
    }



/*-------------------------Shifting-------------------------------------------*/



if (p4_sw_top == 0 && p3_sw_trig == 0)        // if shifter is in Bottom position, servos are in position 1
    {
    pwm05=0;
    }

if (p4_sw_top == 1 && p3_sw_trig == 0)        // if shifter is in Middle position, servos are in position 2
    {
    pwm05=127; 
    }

if (p4_sw_top == 1 && p3_sw_trig == 1)        // if shifter is in Top position, servos are in position 3
    {
    pwm05=255; 
    }

I haven't seen a "setRelay" function before, so I can't help you there.