RobotC help needed!

ok, so i have a robotc that is to navigate a course, find a colored block and deliver it to the correct corner. there is red, blue, and red.

this is the program i have so far and it is a failure... any pointers on how to get my robot to do this would be greatly appreciated!!

Code:

---

#pragma config(Sensor, S4,lightSensor, sensorLightActive)
#pragma config(Sensor, S3,  sonarSensor1, sensorSONAR)//side
#pragma config(Sensor, S1,  colorPort, sensorCOLORFULL)
#pragma config(Sensor, S2, sonarSensor2, sensorSONAR)
//Function


// robot goes back and forth across the area
void BackandForth()
{
  while(sensorValue[sonarSensor1 || sonarSensor2] > 12)
{
  motor(motorB)=20;
  motor(motorC)=20;
}


  //Left Turn
  motor(motorB)=16.665;
  motor(motorC)=-16.665;
  wait1Msec(1150);


  //forward for 1 sec
  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(100);


  //Left Turn
  motor(motorB)=16.665;
  motor(motorC)=-16.665;
  wait1Msec(1150);


  //forward for 5 sec
  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(500);


  while(sensorValue[sonarSensor1 || sonarSensor2] > 8)
{
  motor(motorB)=20;
  motor(motorC)=20;
}


  //Right Turn
  motor(motorB)=-16.665;
  motor(motorC)=16.665;
  wait1Msec(1150);


  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(100);


  //Right turn
  motor(motorB)=-16.665;
  motor(motorC)=16.665;
  wait1Msec(1150);


  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(500);


  while(sensorValue[sonarSensor1 || sonarSensor2] > 8)
{
  motor(motorB)=20;
  motor(motorC)=20;
}


  //Left Turn
  motor(motorB)=16.665;
  motor(motorC)=-16.665;
  wait1Msec(1150);


  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(100);


  //Left Turn
  motor(motorB)=16.665;
  motor(motorC)=-16.665;
  wait1Msec(1150);


  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(500);




  while(sensorValue[sonarSensor1 || sonarSensor2] > 8)
{
  motor(motorB)=20;
  motor(motorC)=20;
}


  //Right Turn
  motor(motorB)=-16.665;
  motor(motorC)=16.665;
  wait1Msec(1150);


  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(100);


  //Right turn
  motor(motorB)=-16.665;
  motor(motorC)=16.665;
  wait1Msec(1150);


  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(500);
}




void stayNearWall()
{
 
while(SensorValue[sonarSensor1 || sonarSensor2] => 10)
{
  motor(motorB)=20;
  motor(motorC)=0;
  wait1Msec(100);
 
  motor(motorB)=20;
  motor(motorC)=20;
 
 
}
  while(SensorValue[sonarSensor1 || sonarSensor2]=< 12)
{
  motor(motorB)=20;
  motor(motorC)=0;
  wait1Msec(100);
 
  motor(motorB)=20;
  motor(motorC)=20;
}


}


void ClampClaw()
{
    motor(motorA)=25;
    wait1Msec(100);
}


void ReleaseClaw()
{
    motor(motorA)=-25;
    wait1Msec(100);
}
task main()
{
  do
  motor(motorB)=25;
  motor(motorC)=25;
 
  while(SensorValue[sonarSensor1 || sonarSensor2] >5)
{
    if(SensorValue[colorPort]== BLUECOLOR)
{


    ClampClaw();
    stayNearWall();
      if (SensorValue[lightSensor] >8 || <11)
    {
      ReleaseClaw();
      motor(motorB)=-50;
      motor(motorC)=-50;
      wait1Msec(500);
      BackandForth();
    }
      else
    {  stayNearWall();
    } 
  if else(SensorValue[colorPort]== REDCOLOR)
    {
      ClampClaw();
      stayNearWall();
      if (SensorValue[lightSensor] >12 || >15)
  {
      ReleaseClaw();
      motor(motorB)=-50;
      motor(motorC)=-50;
      wait1Msec(500);
      BackandForth();
  } 
      else
      { stayNearWall();
      }
  if else(SensorValue[colorPort] == GREENCOLOR)
    {
      ClampClaw();
      stayNearWall();
      if (SensorValue[lightSensor] >15 || <13)
  {
      ReleaseClaw();
      motor(motorB)=-50;
      motor(motorC)=-50;
      wait1Msec(500);
      BackandForth();
    }
  }
    else
{
    motor(motorB)=50;
    motor(motorC)=50;
}
}

---

Are you asking a question or...?

Not knowing the API, but at face value, you should definitely turn a lot of those repeated blocks into macros and/or functions, to make your code more readable.

i just dont know what to do to get it to run. im not sure what you mean. im pretty new to programming... i made the 4 functions for clamping with the claw, releasing with the claw, going back and forth and staying near a wall. when i try to run it, it will go in a circle... thats about it :(

So follow the control flow of the program, and see where it's going in a circle. Add printf()s before and after where you think it should be moving the claw/going back and forth/etc.

But it will be a lot easier to do this if you don't have a ton of repeated code. I see

Code:

---

  motor(motorB)=-16.665;  motor(motorC)=16.665;
  wait1Msec(1150);
 
 
  motor(motorB)=20;
  motor(motorC)=20;
  wait1Msec(100);

---

repeated a bunch, so make that its own function and call it whenever you need to. Repeat as needed with other often-used bits of code.