#pragma config(Sensor, S1,     touchSensor,    sensorEV3_Touch)
#pragma config(Sensor, S2,     touchSensor2,   sensorEV3_Touch)
#pragma config(Sensor, S3,     colorSensor,    sensorEV3_Color)
#pragma config(Sensor, S4,     sonarSensor,    sensorEV3_Ultrasonic)
#pragma config(Motor,  motorB,          rightMotor,    tmotorEV3_Large, PIDControl, driveRight, encoder)
#pragma config(Motor,  motorC,          leftMotor,     tmotorEV3_Large, PIDControl, driveLeft, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
Create a program to control the positive and negative speed of the robot by the press of two
Touch Sensors.
*/

task main()
{
	//Create an integer (whole number) variable to store our speed value.
	int speed = 0;

	//Repeat our control loop forever.
	while(true)
	{
		//When I press the touch sensor button.
		if(getTouchValue(touchSensor) == 1)
		{
			//Add 10 to our 'speed' variable
			if(speed < 100) speed = speed + 10;

			//Create a loop to wait for the touch sensor button to be released.
			while(getTouchValue(touchSensor) == 1)
			{
				//Wait for button to be released
				sleep(10);
			}
			//Set motorB and motorC speed to the value of the 'speed' variable.
			setMotorSpeed(motorB, speed);
			setMotorSpeed(motorC, speed);
		}

		//When I press the touch sensor #2 button.
		if(getTouchValue(touchSensor2) == 1)
		{
			//Subtract 10 from our 'speed' variable.
			if(speed > -100) speed = speed - 10;

			//Create a loop to wait for the touch sensor #2 button to be released.
			while(getTouchValue(touchSensor2) == 1)
			{
				//Wait for button #2 to be released.
				sleep(10);
			}
			//Set motorB and motorC speed to the value of the 'speed' variable.
			setMotorSpeed(motorB, speed);
			setMotorSpeed(motorC, speed);
		}
	}
}