#pragma config(Sensor, S1,     Touch1,              sensorTouch)
#pragma config(Motor,  motorA,          MotorA,        tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

int bToggle = 0;
int motorPos = 0;
// move the motor until it is stopped.
void valveOn(short MotorX, int Direction)
{
 
  if (Direction == 1) {
    motor[motorA] = 80; 
  }
  else {
    motor[motorA] = -80;   
  }

}

task motorSpeed() {
 
  while (true) {
    motorPos = nMotorEncoder[MotorA];
    nxtDisplayBigStringAt (0,60,"P1: %d  ", motorPos);
    wait1Msec(500);
  }
}

task main() {
 
    // setup motor stuff
  nPowerDownDelayMinutes  = 240;  // 4 hours
  bNoPowerDownOnACAdaptor = true;
  nMotorPIDSpeedCtrl[MotorA] = mtrSpeedReg;
 
  StartTask(motorSpeed);
 
  while (nNxtButtonPressed != 3) {
   
    if (SensorValue(Touch1) == 1) {
      bToggle = 1;
    }
    else {
      bToggle = 0; 
    }
   
    valveOn(MotorA, bToggle);
    wait1Msec(200);
  }
}