#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, I2C_1,  BLenc,          sensorQuadEncoderOnI2CPort,    , AutoAssign)
#pragma config(Sensor, I2C_2,  FRenc,          sensorQuadEncoderOnI2CPort,    , AutoAssign)
#pragma config(Sensor, I2C_3,  BRenc,          sensorQuadEncoderOnI2CPort,    , AutoAssign)
#pragma config(Sensor, I2C_4,  FLenc,          sensorQuadEncoderOnI2CPort,    , AutoAssign)
#pragma config(Motor,  port2,           BL,            tmotorVex393_MC29, openLoop, encoderPort, I2C_1)
#pragma config(Motor,  port3,           FR,            tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_2)
#pragma config(Motor,  port4,           BR,            tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_3)
#pragma config(Motor,  port5,           FL,            tmotorVex393_MC29, openLoop, encoderPort, I2C_4)
#pragma config(Motor,  port6,           LLB,           tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port7,           CLMP,          tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port8,           RFL,           tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port9,           RBL,           tmotorVex393_MC29, openLoop, reversed)


task autonomous()
{
	nMotorEncoder[BL] = 0;//clear
	nMotorEncoder[FR] = 0;//clear
	nMotorEncoder[BR] = 0;//clear
	nMotorEncoder[FL] = 0;//clear
	//encoder set zero
	wait1Msec(100);
	while (nMotorEncoder[BL] >-84 && nMotorEncoder[FR] >-84 && nMotorEncoder[BR] >-84 && nMotorEncoder[FL] >-84)//while the encoders are all less than -84 counts
	{
		{
			if(nMotorEncoder[BL] < nMotorEncoder[FR] && nMotorEncoder[BR] && nMotorEncoder[FL])//if the back left  motor counts are greater than the rest
			{
				motor(BL) = -127/2;//motor will move slower
				motor(FR) = -127;//motor will move
				motor(BR) = -127;//motor will move
				motor(FL) = -127;//motor will move
			}
			else if (nMotorEncoder[FR] < nMotorEncoder[BL] && nMotorEncoder[BR] && nMotorEncoder[FL])//if the front right  motor counts are greater than the rest
			{
				motor(BL) = -127;//motor will move
				motor(FR) = -127/2;//motor will move slower
				motor(BR) = -127;//motor will move
				motor(FL) = -127;//motor will move
			}
			else if (nMotorEncoder[BR] < nMotorEncoder[BL] && nMotorEncoder[FR] && nMotorEncoder[FL])//if the back right  motor counts are greater than the rest
			{
				motor(BL) = -127;//motor will move
				motor(FR) = -127;//motor will move
				motor(BR) = -127/2;//motor will move slower
				motor(FL) = -127;//motor will move
			}
			else if (nMotorEncoder[FL] < nMotorEncoder[BL] && nMotorEncoder[FR] && nMotorEncoder[BR])//if the front left  motor counts are greater than the rest
			{
				motor(BL) = -127;//motor will move
				motor(FR) = -127;//motor will move
				motor(BR) = -127;//motor will move
				motor(FL) = -127/2;//motor will move slower
			}
			else if (nMotorEncoder[FL] == nMotorEncoder[BL] == nMotorEncoder[FR] == nMotorEncoder[BR])//if all counts are equal
			{
				motor(BL) = -127;//motor will move
				motor(FR) = -127;//motor will move
				motor(BR) = -127;//motor will move
				motor(FL) = -127;//motor will move
			}
		}//move backwards
	}
}

task main ()
{
}