VEX Robotics Thoughts

Robot-C is supported.  Just FYI

Has something called Task Control, up to 4 concurrent tasks, with priority...
	could do something like:
		StartTask(RaiseBasket, 10)
		StartTask(MoveToWallGoal, 10)

To move to the goal and make sure the basket is Raised

RaiseBasket
	while(limitSensor != 1) // it hasn't been touched
		keep raising the basket

// this will have you start in a more controlled fashion
ControlledAcceleration(desiredTicks)
	while(tickCount < desiredTicks)
		for(int i = 1; i <= 4; i++)
			// let's set power to 1/4, 2/4, 3/4, 4/4 of full power
			motorPower = (desiredFullPower / 4) * i;
			motor[port2] =motorPower;
			motor[port3] =motorPower;
			wait1Msec(1000); // do that for 1 sec, then loop
							// or get more complicated and factor in ticks
							// could get to a point where wait 1 second
							// moves you to far

ControlledDeceleration(desiredTicks)
	while(tickCount < desiredTicks)
		for(int i = 0; i < 4; i++)
			// let's set power to 3/4, 2/4, 1/4, 0/4 of full power
			motorPower = (desiredFullPower / 4) * (3 - i);
			motor[port2] =motorPower;
			motor[port3] =motorPower;
			wait1Msec(1000); // do that for 1 sec, then loop
							// or get more complicated and factor in ticks
							// could get to a point where wait 1 second
							// moves you to far

Move(desiredTicks)
	while(tickCount < desiredTicks)
		motor[port2] = full power;
		motor[port3] = full power;
		wait1Msec(1000);

// moveRangePercents = [15, 70, 15]
MoveForward(desiredTicks)
	if (currentTicks <= desiredTicks * 0.15)
		ControlledAcceleration(desiredTicks * 0.15)
	if (currentTicks > desiredTicks * 0.15 && currentTicks < desiredTicks * 0.70)
		Move(desiredTicks * 0.70)
	if (currentTicks >= desiredTicks * 0.70)
		ControlledDeceleration(desiredTicks * 0.15)

To factor in ticks & time you likely need to figure out how many ticks you can travel for some time period.
It's just an exercise in measurement...

setTickCounter = 0;
moveTimeInMS = 5000;
motor[port2] = 127/4 * 1;
motor[port3] = 127/4 * 1;
wait1Msec(moveTimeInMS);
tickCount/moveTimeInMS == ticks/ms @ 1/4 power

just do the above for 127/4 * 1, 2, 3, 4 to get 1/4, 2/4, 3/4, 4/4 power measurements

then you'll know how far (in ticks) you go at a given speed
you can compare how far you have remaining, and adjust wait times during 
	acceleration and deceleration