#pragma config(Sensor, S3,     TouchSensor,         sensorTouch)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main(){

   int currentValue;
   int doubleValue;
   int degreeToStraighten;
   int finalSpeed;

   while (SensorValue (TouchSensor) == 0) {}
   
   nMotorEncoder[motorB] = 0;
   PlaySound(soundBeepBeep);

   while (true){
     if (nMotorEncoder[motorB] < 0){
    currentValue = nMotorEncoder[motorB];
    doubleValue = currentValue + currentValue; // turn current value into
    degreeToStraighten = currentValue - doubleValue; // negative number
    finalSpeed = degreeToStraighten * degreeToStraighten * 3;   
   
      motor[motorA] = finalSpeed;
      motor[motorC] = finalSpeed;   
    }
   
    else{
    currentValue = nMotorEncoder[motorB];
    doubleValue = currentValue + currentValue; // turn current value into
    degreeToStraighten = currentValue - doubleValue; // negative number
    finalSpeed = degreeToStraighten * degreeToStraighten * 3;   
       
      motor[motorA] = -finalSpeed;
      motor[motorC] = -finalSpeed;
    }
   }
}