Don’t create tasks in a while loop, this will constantly keep recreating them.
//Driver Control Code
void usercontrol(void) {
while (1) {
task runMainDriveTask (runMainDrive);
task runMainLiftTask (runMainLift);
task runGoalLiftTask (runGoalLift);
task toggleConveyerTask (toggleConveyer);
task toggleClampTask (toggleClamp);
//Vex Wait
wait (20, msec);
}
}
also, have a read through this for some advice on task management when using competition control.