[SL8]

I'm sorry, forgotten to mention that I imported the API.h file into MPlab. Yes, I was using WPlib with easyC before I transferred the code.
As far as I have seen, the code works. I am seriously thinking about rewriting the whole thing from scratch in MPlab though, just to make sure.
As for the sensors, I was not aware of that, thanks. Last I checked they were working, however for the sake of caution I may write it myself during our next fix it window. The last thing I would want is for me to have to rewrite it during the practice rounds at competition. I am the only programmer, a freshman who just started learning it at the beginning of build. Again thanks for telling me about the sensors, I'll look into that.