VEX Bot Maze Running and Using Wheel Encoders

A picture of our square-bot that would attempt to navigate its way through the tile maze

**Note the wheel encoders

A video of another group's run (immediately after ours).

I'll post a video of our run later, because my phone decided not to save the video I took.

RobotC Maze Code

#pragma config(Sensor, in2,    rightEncoder,   sensorRotation)

#pragma config(Sensor, in3,    leftEncoder,    sensorRotation)

#pragma config(Motor,  port2,           LEFT,         tmotorNormal, openLoop)

#pragma config(Motor,  port3,           RIGHT,         tmotorNormal, openLoop, reversed)

//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#define square  124

#define fleft   65

#define fright  63

#define rleft   -63

#define rright  -61

void turnLeft( int turnTicks ){

  SensorValue[rightEncoder] = 0;

  SensorValue[leftEncoder] = 0;

  motor[LEFT] = rleft;      //left

  motor[RIGHT] = fright;

  while (SensorValue[rightEncoder] < turnTicks);

  motor[LEFT] = 0;

  motor[RIGHT] = 0;

  int RightTurns = SensorValue[rightEncoder];

  int LeftTurns = SensorValue[leftEncoder];

}

void turnRight( int turnTicks ){

  SensorValue[rightEncoder] = 0;

  SensorValue[leftEncoder] = 0;

  motor[LEFT] = fleft;      //right

  motor[RIGHT] = rright;

  while (SensorValue[rightEncoder] < turnTicks);

  motor[LEFT] = 0;

  motor[RIGHT] = 0;

  int RightTurns = SensorValue[rightEncoder];

  int LeftTurns = SensorValue[leftEncoder];

}

void goForward( int goticks ){

  SensorValue[rightEncoder] = 0;

  SensorValue[leftEncoder] = 0;

  motor[LEFT] = fleft;      //foward

  motor[RIGHT] = fright;

  while (SensorValue[rightEncoder] < goticks);

  motor[LEFT] = 0;

  motor[RIGHT] = 0;

  int RightTurns = SensorValue[rightEncoder];

  int LeftTurns = SensorValue[leftEncoder];

}

task main( )

{

  goForward( square*4.5 );

  wait1Msec(200);

  turnLeft( 99 );

  wait10Msec(20);

  goForward(square*2);

  wait10Msec(20);

  turnLeft(99);

  wait10Msec(20);

  goForward(square*4);

  wait10Msec(20);

  turnRight(99);

  wait10Msec(20);

  goForward(square*2);

  wait10Msec(20);

  turnRight(99);

  wait10Msec(20);

  goForward(square*6);

  wait10Msec(20);

  turnRight(99);

  goForward(square*4);

  turnRight(99);

  turnLeft(45);

  turnRight(140);

  turnLeft(500);

}