text: #pragma config(Motor, port2, RightMotor, tmotorNormal, openLoop, reversed) 				//Drill A
  #pragma config(Motor, port3, LeftMotor, tmotorNormal, openLoop)						 	//Drill B
  #pragma config(Motor, port4, ScissorLiftMotor, tmotorNormal, openLoop)		 			//Banebot || servo switch
  #pragma config(Motor, port5, RightGathererMotor, tmotorNormal, openLoop, reversed)	    //Vex
  #pragma config(Motor, port6, LeftGathererMotor, tmotorNormal, openLoop)					//Vex
  #pragma config(Motor, port7, GathererWinch, tmotorNormal, openLoop)					    //Vex
  #pragma config(Motor, port8, FlywheelMotor, tmotorNormal, openLoop)						//Vex
  #pragma config(Motor, port9, ClawMotor, tmotorNormal, openLoop)							//Vex
  
  task Controlled()
  {
    repeat(forever)
    {
      motor[rightmotor] == vexRT[Ch2];
      motor[leftmotor] == vexRT[Ch3];
  
      if (vexRT[Btn5U] == true) motor[scissoriftmotor] = 127;
    	else if (vexRT[Btn5D] == true) motor[scissorliftmotor] = -127;
    	else motor[scissorliftmotor] = 63;
  
    	if (vexRT[Btn6U] == true){motor[rightgathermotor] = 127; motor[leftgathermotor] = 127;}
    	else if (vexRT[Btn6D] == true){ motor[rightgathermotor] = -127; motor[leftgathermotor] = -127;}
    	else {motor[rightgathermotor] = 0; motor[leftgathermotor] = 0;}
  
    	if (vexRT[btn7U] == true) motor[flwheelmotor] = 127;
    	if (vexRT[btn7R] == true) motor[flwheelmotor] = 63;
    	if (vexRT[btn7L] == true) motor[flwheelmotor] = -63;
    	else motor[flwheelmotor] = 0;
  
    	if (vexRT[Btn8R == true) motor[ClawMotor] = 127;
    	else if (vexRT[btn8L == true) motor[ClawMotor] = -127;
    	else motor[ClawMotor] = 0;
    }
  }
  
  task Autonomous()
  {
    body
  }
  
  task main() //starts autonomus if btn are pressed
  {
  	clearTimer(timer1);
  	while (time1[timer1] < 750)
   	{
     if (vexRT[Btn5U] == true && vexRT[Btn5D] == true && vexRT[Btn7R] == true && vexRT[Btn7L] == true) startTask(Autonomous);
  	}
  	startTask(Controlled);
  }
  
  task breaking()
  {
      //in order to break u need to slow down the motor not put in reverse these vex motors are far to weak
      if(vexRT[Btn8R == true)
      {
          motor[example] = 127;
          if(vexRT[Btn8R == false)
          {
              for(int x = 127; x < 0; x--;)
              {
                  motor[example] = x
                  sleep(10);
              }
          }
      }
  }
  