This is an unofficial response to @Bearcats post on programming different speeds. Some basic code would look like this:
int targetSpeed = 0;
void flywheel(int speed){
//function that sets flywheel motors
}
task userControl(){
while(true){
if (button A == 1)
targetSpeed = 50;
else if (button B == 1)
targetSpeed = 100;
else if (button C == 1)
targetSpeed = 0;
flywheel(targetSpeed);
}
}