Moving back and forth

This simple program allows your robot to go forward a specific distance and then go backward and return to it’s starting spot.  You program your robot to go a specific number of degrees and then you know exactly how far it will

task main()

{                                          
//Reset the motorEncoders                
             SensorValue(rightEncoder) = 0;           
             SensorValue(leftEncoder) = 0;                
             wait1Msec(100);  //short pause to reduce jerky motor movement                                                

//set the encoder target
//for 5 rotations, we want to rotate 5 * 1800 degrees

            while(SensorValue[rightEncoder] < 1800)
{                             
//start both motors at half speed
             startMotor(rightMotor, 63);
             startMotor(leftMotor, 63);
}

//stop both motors
stopMotor(rightMotor);
stopMotor(leftMotor);
wait1Msec(2000);  //pause for 2 seconds
{

//reset both motor Encoders to zero
SensorValue(rightEncoder) = 0;
SensorValue(leftEncoder) = 0;
wait1Msec(100); //pause .5 second to reduce jerky motor movement

//for 5 rotations, we want to rotate 5 * 1800 degrees
while(SensorValue(rightEncoder) > -1800)
{
startMotor(rightMotor, -60);
startMotor(leftMotor, -60);
}
{
//stop both motors
stopMotor(rightMotor);
stopMotor(leftMotor);
}
}
}