I need a code for code switch for two motor's and three line followers and a ultrasonic sensor. I need to be be able to press a bum switch to stop everything, like a kill switch, however the StopAllTasks doesn't work because there is one task(main).

It is fine if the reply is late. I just want to know.

Just for future reference, posting things like "Help Now. Due in 1 hour" doesn't come across as too nice.

As for your code, here's one way to do it:

QFT. In fact, it makes some people (like me), who are typically helpful, wait for an hour before posting...