Variable Motor Test Bench

/* this update finally fixes the problem with the motor continuing to run after the sonar is regestering a value greater than 20 */
#pragma config(Sensor, in1,    Potentiometer,  sensorPotentiometer)
#pragma config(Sensor, in2,    Light_sensor,   sensorReflection)
#pragma config(Sensor, in3,    Line_follower,  sensorLineFollower)
#pragma config(Sensor, dgtl1,  bump,           sensorTouch)
#pragma config(Sensor, dgtl2,  Limit,          sensorTouch)
#pragma config(Sensor, dgtl3,  Sonar_in,       sensorSONAR_cm)
#pragma config(Sensor, dgtl5,  Quad_in,        sensorQuadEncoder)
#pragma config(Sensor, dgtl11, Bump_,          sensorTouch)
#pragma config(Motor,  port2,           right_motor,   tmotorVex269_MC29, openLoop)
#pragma config(Motor,  port3,           Servo,         tmotorServoStandard, openLoop)
#pragma config(Motor,  port9,           left_motor,    tmotorVex269_MC29, openLoop)

//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//



task main()

{

	// This code is for a VEX POE test bench with the ability to control the speed of rotation of the motors using a multitude of different methods.

	int x; //
	int light; //
	int distance; //
	int degrees; // Number of degrees the potentiometer rotates



	SensorValue[Quad_in] = 0;
	SensorValue[Potentiometer] = 0; // Resets the potentiometer before the robot starts

	while (1 == 1){

 		if(SensorValue(bump) == 1) {

			x = SensorValue[Quad_in] / 2;	// Changes the value x to be equal to the value the quadrature encoder records

			motor[right_motor] = x;

			motor[left_motor] = x;

 		}

 		if(SensorValue[Sonar_in] < 10) {	// If the sensor value is greater than ~20 inches then the sonar will be be turned off

		distance = SensorValue[Sonar_in] * 5;

			motor[right_motor] = distance;

			motor[left_motor] = distance;

 		}

	 if(SensorValue(Bump_) == 1) {

			light = SensorValue[Light_sensor] / -2;

			motor[Servo] = light;	// Note: be weary about how much you move this, too much movement could destroy your servo; run this at your own risk!

 		}

		if(SensorValue(Potentiometer) > 10) {

			degrees = SensorValue[Potentiometer] / 5;	//Note: be weary about how much you move the potentiometer, too much movement could destroy your servo run this at your own risk!

			motor[Servo] = degrees;

 		}

		if (SensorValue[Sonar_in] >= 20 ) {

			motor[right_motor] = 0;

			motor[left_motor] = 0;

			motor[Servo] = 0;

			SensorValue[Potentiometer] = 0;

		}

 	}

}