#pragma config(Sensor, port8,  distanceRight,  sensorVexIQ_Distance)
#pragma config(Sensor, port9,  coloreLeft,     sensorVexIQ_ColorGrayscale)
#pragma config(Sensor, port10, coloreRight,    sensorVexIQ_ColorGrayscale)
#pragma config(Sensor, port11, distanceLeft,   sensorVexIQ_Distance)
#pragma config(Motor,  motor1,          FrontRight,    tmotorVexIQ, PIDControl, reversed, driveRight, encoder)
#pragma config(Motor,  motor2,          BackRight,     tmotorVexIQ, PIDControl, reversed, driveRight, encoder)
#pragma config(Motor,  motor3,          FrontLeft,     tmotorVexIQ, PIDControl, driveLeft, encoder)
#pragma config(Motor,  motor4,          BackLeft,      tmotorVexIQ, PIDControl, driveLeft, encoder)
#pragma config(Motor,  motor5,           ,             tmotorVexIQ, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
	stopMotor(motor5);
	wait(5, seconds);
	moveMotor(motor5, 114, degrees, -75);
	setDistanceMaxRange(distanceLeft,1500);
	setDistanceMaxRange(distanceRight,1500);
	repeat (forever) {
		if (getColorGrayscale(port10) > 210) {
			if (getColorGrayscale(port9) > 210) {
				setMultipleMotors(-100, motor1, motor2, motor3, motor4);
				wait(0.75, seconds);
				setMultipleMotors(100, motor1, motor2, , );
				setMultipleMotors(-100, motor3, motor4, , );
				wait(0.5, seconds);
			} else {
				setMultipleMotors(-100, motor1, motor2, motor3, motor4);
				wait(0.75, seconds);
				setMultipleMotors(100, motor1, motor2, , );
				setMultipleMotors(-100, motor3, motor4, , );
				wait(0.5, seconds);
			}
		} else {
			if (getColorGrayscale(port9) > 210) {
				setMultipleMotors(-100, motor1, motor2, motor3, motor4);
				wait(0.75, seconds);
				setMultipleMotors(-100, motor1, motor2, , );
				setMultipleMotors(100, motor3, motor4, , );
				wait(0.5, seconds);
			} else {
			}
		}
		if (abs(SensorValue[distanceRight]) > 1450) {
			if (abs(SensorValue[distanceLeft]) > 1450) {
				motor[FrontRight] = 40;
				motor[BackRight] = 40;
				motor[FrontLeft] = -40;
				motor[BackLeft] = -40;
			} else {
				motor[FrontRight] = 40;
				motor[BackRight] = 40;
				motor[FrontLeft] = -10;
				motor[BackLeft] = -10;
			}
		} else {
			if (abs(SensorValue[distanceLeft]) > 1450) {
				motor[FrontRight] = -10;
				motor[BackRight] = -10;
				motor[FrontLeft] = 40;
				motor[BackLeft] = 40;
			} else {
				motor[FrontRight] = 100;
				motor[BackRight] = 100;
				motor[FrontLeft] = 100;
				motor[BackLeft] = 100;
			}
		}
	}
}