[iblis432]

oddly, I totally forgot that the original template shows manipulators as being in a second loop, I will definiatly try that. As for the increase in the timeout, we found that the NXT kept switching between enabled and disabled without us doing anything to the FCS (we were using the Samantha module when this happened) and when we heightened the number, it stopped doing that. But again, that could be because we were processing so much. I will definiatly make those changes and test the robot with that ASAP. I am planning however to make a backup piece of code using RobotC, if that is ok with my mentor.