C++ Toggle Button

[thelegend]

I am trying to make a toggle for switching between Arcade Drive and Tank drive. I wrote and tested this code but the only result I get is a switch between Tank to Arcade, not the other way back. I have such a complicated system because I believe that if I simply set a variable to be True or False, it won't compensate for if the driver holds on to the button. That's why I have a clause in there that checks if the button has been released.

If you find any issues, please reply!

void OperatorControl(void)
	{
		bool boolval = false;
		bool toggle = true;
		bool toggle2 = false;
		
		feeder->Set(false);
		firingMech->Set(true);
		
		while (IsOperatorControl())
		{
			if(boolval){
			//Arcade Drive
				//Left Side
				leftMiddleMotor -> SetSpeed(primaryController -> GetRawAxis(5) - primaryController -> GetRawAxis(4));
				leftBottomMotor -> SetSpeed(primaryController -> GetRawAxis(5) - primaryController -> GetRawAxis(4));
				//Right Side
				rightTopMotor -> SetSpeed(-(primaryController -> GetRawAxis(5) + primaryController -> GetRawAxis(4)));
				rightMiddleMotor -> SetSpeed(-(primaryController -> GetRawAxis(5) + primaryController -> GetRawAxis(4)));
				rightBottomMotor -> SetSpeed(-(primaryController -> GetRawAxis(5) + primaryController -> GetRawAxis(4)));
				if(!(secondaryController -> GetRawButton(6))){
					toggle2 = true;
					printf("Status is: \n");
				} 
				if(secondaryController -> GetRawButton(6) && toggle2 == true){
					boolval = false;
					toggle2 = false;
					toggle = true;
				}
			}
			//Arcade - Tank Toggle Switch
				if(secondaryController -> GetRawButton(6)){
					boolval = true;
					toggle = false;
				}else if(toggle){
					// Left Motor Drivetrain
					if (primaryController -> GetRawAxis(2)){
							leftMiddleMotor -> SetSpeed(primaryController -> GetRawAxis(2));
							leftBottomMotor -> SetSpeed(primaryController -> GetRawAxis(2));
						}else{
							leftMiddleMotor -> SetSpeed(0.0);
							leftBottomMotor -> SetSpeed(0.0);
						}
					//Right Motor Drivetrain
					if (primaryController -> GetRawAxis(5)){
							rightTopMotor -> SetSpeed(-(primaryController -> GetRawAxis(5)));
							rightMiddleMotor -> SetSpeed(-(primaryController -> GetRawAxis(5)));
							rightBottomMotor -> SetSpeed(-(primaryController -> GetRawAxis(5)));
						}else{
							rightTopMotor -> SetSpeed(0.0);
							rightMiddleMotor -> SetSpeed(0.0);
							rightBottomMotor -> SetSpeed(0.0);
						}					//Tank
				}
			// Compression
			if (secondaryController -> GetRawButton(8)){
					compressor -> Set(Relay::kForward);
				}else{
					compressor -> Set(Relay::kOff);
				}

			//Lifter
			if (secondaryController -> GetRawAxis(2)){
					leftLifterMotor -> SetSpeed(secondaryController -> GetRawAxis(2));
					rightLifterMotor -> SetSpeed(-(secondaryController -> GetRawAxis(2)));
				}else{
					leftLifterMotor -> SetSpeed(0.0);
					rightLifterMotor -> SetSpeed(0.0);
				}
			//Conveyer
				//Conveyer go up
			if (secondaryController -> GetRawButton(3)){
					conveyer -> SetSpeed(1.0);
				}else{
					conveyer -> SetSpeed(0.0);
				}
				//Conveyer go down
			if (secondaryController -> GetRawButton(2)){
					conveyer -> SetSpeed(-1.0);
				}else{
					conveyer -> SetSpeed(0.0);
				}
			//Shooter Motor
			if(secondaryController -> GetRawButton(5)){
					shooterInner -> SetSpeed(-(secondaryController -> GetRawAxis(3)));
					shooterOuter -> SetSpeed(-(secondaryController -> GetRawAxis(3)));
				}else{
					shooterInner -> SetSpeed(0.0);
					shooterOuter -> SetSpeed(0.0);
				}
			//Shooter FIRE!!!!
			if(secondaryController -> GetRawButton(1)){
					firingMech -> Set(true);
				}else{
					firingMech -> Set(false);	
				}
			//Arouser
				//Arouser Up
			if(secondaryController -> GetRawButton(11)){
					feeder -> Set(true);
				}
				//Arouser Down
			if(secondaryController -> GetRawButton(10)){
					feeder -> Set(false);
				}
			}		
			Wait(0.05);
			
		
	}