long correction = 0;

task main()
{
     TFileHandle hFileHandle;
     TFileIOResult nIoResult;
     short nFileSize = sizeof(long);
     //blah blah blah code goes here
     correction = 359;
     Delete("Correction.txt", nIoResult);
     OpenWrite(hFileHandle, nIoResult, "Correction.txt", nFileSize);
     WriteLong(hFileHandle, nIoResult, correction);
     Close(hFileHandle, nIoResult);
}

long correction = 0;

task main()
{
     TFileHandle hFileHandle;
     TFileIOResult nIoResult;
     short nFileSize;
     OpenRead(hFileHandle, nIoResult, "Correction.txt", nFileSize);
     if(nIoResult == ioRsltSuccess)
          ReadLong(hFileHandle, nIoResult, correction);
     Close(hFileHandle, nIoResult);
     //code here
}

float theta;
float turnValue;
/*insert the other decelerations and program stuff*/

task getRotation()
{rotation=0;
time1[0]=0;
while (true)
{rotation=/*the gyro sensor raw data*/;
if (time1[0]>=5)
{theta+=rotation*(time1[0]/1000)/*float*/;
time1[0]}

task autoCorrect()
{float ftheta;
while(true)
{ftheta=theta+turnValue;
//on line 7, show what ftheta is
if(abs(ftheta)>0)
{sign=abs(ftheta)/ftheta;
speed=pow((ftheta/3),2)*sign;
speed=(abs(speed)>=100)?100*sign:speed;
/*then it haves four similar to correctBl=speed; or correctBr=-speed;*/}
}
/*somewhere in between is where it adds the corrected motor speed to the drive speed*/

task autonomous()
{StartTask(getRotation);
StartTask(autocorrect);