 {
 
   AllowUserTurn();
-  PoseForPicture();
-  if(userControl == false) RequestPCInstruction();
-  if(userControl == false) MoveXYR();
-  if(userControl == false) TakeShot();  
+  if(!userControl) PoseForPicture();
+  if(!userControl) RequestPCInstruction();  
+  if(!userControl) MoveXYR();
+  if(!userControl) TakeShot();  
   
 }
 

#define RMIN_PIN             27 //r sensor 1
#define RMAX_PIN             29 //r sensor 2

#define USERBUTTON1_PIN      20
#define USERBUTTON2_PIN      21

#define UPPERBOUND_X         10000 //Number of steps for full range of motion in X, need test empirically 
#define UPPERBOUND_Y         10000 //Number of steps for full range of motion in Y, need test empirically 
#define UPPERBOUND_R         197 //Number of steps for full rotation in R, need test empirically 
#define UPPERBOUND_E         3     //Number of power settings for take shot, probably 3

#define MICRODELAY           800

  pinMode(YMAX_PIN, INPUT);
  pinMode(RMIN_PIN, INPUT);
  pinMode(RMAX_PIN, INPUT);
  pinMode(USERBUTTON1_PIN, INPUT);
  pinMode(USERBUTTON2_PIN, INPUT);

  InitializeRoutine();
  
