#pragma config(Motor,  motorA,          MOTOR1,        tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorB,          MOTOR2,        tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main () {
  long encoderCountMotor1 = 0;
  long encoderCountMotor2 = 0;

  // Reset the tachos for both motors.  You only need to do this
  // once at the start of your program
  nMotorEncoder[MOTOR1] = 0;
  nMotorEncoder[MOTOR2] = 0;
  wait1Msec(100);

  // Start the motors
  motor[MOTOR1] = 20;
  motor[MOTOR2] = 60;

  // Display the encoder counts in a nice way
  nxtDisplayCenteredTextLine(0, "Motor Test");
  nxtDrawLine(0, 52, 99, 52);
  while (true) {
    // Read the encoder counts.  You need to use a variable type called
    // "long".  An "int" would not be big enough to handle all the possible
    // values of the nMotorEncoder.
    encoderCountMotor1 = nMotorEncoder[MOTOR1];
    encoderCountMotor2 = nMotorEncoder[MOTOR2];

    // Put the values on the screen
    nxtDisplayTextLine(2, "Motor1: %5d", encoderCountMotor1);
    nxtDisplayTextLine(3, "Motor2: %5d", encoderCountMotor2);

    // Wait a little bit (50ms)
    wait1Msec(50);
  }
}

void function1 () {
  // perform action 1
 
  // perform action 2
 
  if (condition == true) {
    return; // exit the function, we're done
  }
 
  // perform action 3
}

task main () {
  function1();
  PlaySound(soundBeepBeep);
  wait1Msec(1000);
}