void initializeRobot()
{
  // Place code here to sinitialize servos to starting positions.
  // Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.

  return;
}


task main()
{


  //HTGYROstartCal(S2);
  waitForStart();
  //StartTask(displayDiagnostics);
  //initializeRobot();
  eraseDisplay();
  nxtDisplayString(2,"It has started.");
  StartTask(monitorGyro);
  int startTime = nPgmTime;//, i;
  //StopTask(displayDiagnostics);
  while(/*i < 700)*/ (nPgmTime - 7000) < startTime)
  {
    //i++;
    drive(-2,50);
    spin(angle,0);
    applyPower();

    /*
    eraseDisplay();
    nxtDisplayString(2,"%i",angle);
    wait10Msec(1);
    */
  }
  StopTask(monitorGyro);
  stop();

  while (true)
  {}
}