if ( GetDigitalInput(14) == 1 )
        {
            state = 1;
        }

        if ( GetDigitalInput(15) == 1 )
        {
            state = 2;
        }

        if ( GetDigitalInput(16) == 1)
        {
            state = 3;
        }

        if ( GetDigitalInput(17) == 1 )
        {
            state = 4;
        }

#if 0

switch (robot_pos)

    case 1:
    x_start = 2000; //20 Inches from the midfield
    y_start = 0;

    turnAngle_right = 25;
    drive_forward = 180;

    if(get_ball_pos = 1)

        {
            intercept_ball = 3850;
        }
    if(get_ball_pos = 2)

        {
            intercept_ball = 8400;
        }
    if(get_ball_pos = 3)

        {
            intercept_ball = 13300;
        }

    drive(120,180);
    knock_ball_off();

break;

    case 2:

    x_start = 8400; //84 Inches from the midfield
    y_start = 0;

    if(get_ball_pos = 4)

        {
            turn(-45);
            drive(5000, 190);
        }

    turn(45);
    drive(10000, 190);

    if(get_ball_pos = 1)

        {
            intercept_ball = 3850;
        }
    if(get_ball_pos = 2)

        {
            intercept_ball = 8400;
        }
    if(get_ball_pos = 3)

        {
            intercept_ball = 13300;
        }

    drive(1000,180);
    knock_ball_off();

break;

    case 3:

    x_start = 14700; //20 Inches from the midfield
    y_start = 3850;

    turn(30);
    drive(10000,180);

    if(get_ball_pos = 1)

        {
            intercept_ball = 3850;
        }
    if(get_ball_pos = 2)

        {
            intercept_ball = 8400;
        }
    if(get_ball_pos = 3)

        {
            intercept_ball = 13300;
        }

    drive(120,180);
    knock_ball_off();

break;

#endif

      //  PrintToScreen("state = %d\r", state);

        switch (state)
        {
        case 1:
            //	while (left_dist && right_dist <= 60)
	  //if (left_dist && right_dist >= 120)

            //leftpower = 64;
            //rightpower = 64;
            leftpower = 64;
            rightpower = 64;
            //	}
            //	left_dist = right_dist = 0;
            //	state = 0;
            break;

        case 2:
            /*while (left_dist && right_dist <= 60)
            	{
            		leftpower = -64;
             		 rightpower = 64;
            	}
            left_dist = right_dist = 0;
            state = 0;*/

            leftpower = -64;
            rightpower = 64;
            break;

        case 3:
            /*
            	while (left_dist && right_dist <= 60)
            		{
            			leftpower = 64;
             			 rightpower = -64;
            		}
            	left_dist = right_dist = 0;
            	state = 0;
            */
            leftpower = 0;
            rightpower = 0;
            break;

        case 4:
            /*
            	while (left_dist && right_dist <= 60)
            		{
            			leftpower = -64;
             			rightpower = -64;
            		}
            	left_dist = right_dist = 0;
            	state = 0;*/
            leftpower = 64;
            rightpower = -64;
            break;

        default:
            leftpower = 0;
            rightpower = 0;
        }