intermdiate programmer requests your help!!!

[paulcd2000]

and your limit switch will depend on how it's wired. 1 could be open or closed depending on the wiring. test with a multimeter first. for the 13.5 feet part, use encoders (might be hard), or measure the time that it takes your robot to go 13.5 feet and use timers (sample code):

int time;
if(time<115){ //this is about 3 seconds, 1 is 26.2 milliseconds
     pwm01=pwm02=254;
     time++;
}
else{
     pwm01=pwm02=127;
     if(!limit_switch){ //again, remember the wiring thing
          claw_motor=254; //redefine claw motor, and this is assuming that 254 is up, and that ur not using a relay
     }
     else{
          claw_motor=127; //same deal
     }
}