Hello Everyone!
I’ve started making a blog on basic, and some advanced programming techniques, please take a peek!
You can find it at http://blog.harrisonfreni.me
Great to see more posts about programming, probably should fix a couple of things as it’s your first blog entry.
pre_auton is a function not a task.
https://vexforum.com/showpost.php?p=372749&postcount=3
Add a while loop around that driver control code.
Otherwise good start 
Oops! Thanks James! I completely forgot this as I didn’t have any proper code on hand!
I also added a basic tutorial on holonomic drives! I will definitely add a lot more content within the next few days! So, stay tuned!
I added two new articles, one on getting started with BNSLib, and the other on writing a basic PID loop and tuning it.
I will be updating this frequently, so look out for more information!
Feel free to PM me if my information is incorrect, and I will change it!
I added some more stuff after my wave of laziness… it’s summer!!!
Check it out!
http://blog.harrisonfreni.me/
Also, alot of the posts are unfinished online, but on my computer, they’re done. so keep a look out for those!