3 Bumpers Code

#pragma config(Sensor, dgtl10, BumperLeft,     sensorTouch)
#pragma config(Sensor, dgtl11, BumperRight,    sensorTouch)
#pragma config(Sensor, dgtl12, BumperMiddle,   sensorTouch)
#pragma config(Motor,  port2,           rightMotor,    tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port3,           leftMotor,     tmotorServoContinuousRotation, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*----------------------------------------------------------------------------------------------------*\
|*                                         - Moving Forward -                                         *|
|*                                      ROBOTC on VEX 2.0 CORTEX                                      *|
|*                                                                                                    *|
|*  This program instructs your robot to move forward at full power for three seconds.  There is a    *|
|*  two second pause at the beginning of the program.                                                 *|
|*                                                                                                    *|
|*                                        ROBOT CONFIGURATION                                         *|
|*    NOTES:                                                                                          *|
|*    1)  Reversing 'rightMotor' (port 2) in the "Motors and Sensors Setup" is needed with the        *|
|*        "Squarebot" mode, but may not be needed for all robot configurations.                       *|
|*    2)  Power levels that can be assigned to a motor port range from -127 (full reverse) to         *|
|*        127 (full forward).                                                                         *|
|*                                                                                                    *|
|*    MOTORS & SENSORS:                                                                               *|
|*    [I/O Port]          [Name]              [Type]                [Description]                     *|
|*    Motor Port 2        rightMotor          VEX 3-wire module     Right side motor                  *|
|*    Motor Port 3        leftMotor           VEX 3-wire module     Left side motor                   *|
\*-----------------------------------------------------------------------------------------------4246-*/


//+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++
task main()
{ while(1==1)
	{ motor[rightMotor] = 40;
		motor[leftMotor]  = 50;

		if (SensorValue[BumperMiddle]==1)
		{ motor[rightMotor] = -20;
			motor[leftMotor]  = -28;
			wait1Msec(1000);
			motor[rightMotor] = 0;
			motor[leftMotor]  = 0;
			wait1Msec(1000);
			motor[rightMotor] = 40;
			motor[leftMotor]  = -50;
			wait1Msec(750);
		}

		if (SensorValue[BumperRight]==1)
		{ motor[rightMotor] = -20;
			motor[leftMotor]  = -28;
			wait1Msec(1000);

			motor[rightMotor] = 30;
			motor[leftMotor]  = 0;
			wait1Msec(1000);
		}

		if (SensorValue[BumperLeft]==1)
		{ motor[rightMotor] = -20;
			motor[leftMotor]  = -28;
			wait1Msec(1000);

			motor[rightMotor] = 0;
			motor[leftMotor]  = 30;
			wait1Msec(1500);
		}
	}
}
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++