//Rotates a motor forward and backward using the square button
//Can be used in mechanisms such as a gripper/claw and projectile “kicker”
//Fill variable “pressures.square” into respective field

//Boolean variables "closed" and "valid" are instantiated outside of function 
//as doing so within while loop resets the respective states each iteration

bool closed;
bool valid; 

void doUndo(int square){

    if(square == 100 && !valid){
      valid = true;
       if(!closed){
        closed = true;
        RotateMotor(OUT_A, 75, -50);
       }else if(closed){
        closed = false;
        RotateMotor(OUT_A, 75, 50);
      }
    }else if(square == 0 && valid){
      valid = false;
    }

}

//Rotates a motor continuously CW or CCW if holding a particular shoulder button
//Can be used in mechanisms such as a projectile “kicker”
//Insert variables “pressures.r2” and “pressures.l2” into respective fields

void continuousRotation(int rightBumper, int leftBumper){

    if(rightBumper == 100){
      OnFwd(OUT_A, 80);
    }else if(leftBumper == 100){
      OnRev(OUT_A, 80);
    }else{
      Off(OUT_A);
    }

}