diff --git a/MiniChallenge2/flash.c b/MiniChallenge2/flash.c
new file mode 100644
index 0000000..90a80d4
--- /dev/null
+++ b/MiniChallenge2/flash.c
@@ -0,0 +1,14 @@
+task blink()
+{
+	//int blinkState = true;
+	while(true)
+	{
+		while(SensorValue(bumpSwitch) == true) //If you are holding the bump switch
+		{
+			turnLEDOn(LEDOne);
+			delay(1000); //...do the code
+			turnLEDOff(LEDOne);
+			delay(1000); //more code
+		}
+	}
+}
diff --git a/MiniChallenge2/motorInit.c b/MiniChallenge2/motorInit.c
new file mode 100644
index 0000000..9dda0fe
--- /dev/null
+++ b/MiniChallenge2/motorInit.c
@@ -0,0 +1,11 @@
+void motorInit()
+{
+	int rev = 1000;
+//motor init
+	startMotor(starboardMotor, 80);
+	startMotor(portMotor, 80);
+	delay(rev); //adjust me! 1 rev
+	stopMotor(starboardMotor);
+	stopMotor(portMotor);
+	delay(2000); //delay for 2 seconds
+}
diff --git a/MiniChallenge2/source.c b/MiniChallenge2/source.c
new file mode 100644
index 0000000..bb103e5
--- /dev/null
+++ b/MiniChallenge2/source.c
@@ -0,0 +1,46 @@
+#pragma config(Sensor, dgtl1,  limitSwitch,    sensorTouch)
+#pragma config(Sensor, dgtl2,  bumpSwitch,     sensorTouch)
+#pragma config(Sensor, dgtl12, LEDOne,         sensorLEDtoVCC)
+#pragma config(Motor,  port2,           starboardMotor, tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port3,           portMotor,     tmotorVex393_MC29, openLoop)
+//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
+
+#include "flash.c"
+#include "motorInit.c"
+
+task driveTask() //Tasks need to be defined before the task main, as they will compile in order
+{
+	int trip = false;
+
+	startMotor(starboardMotor, -80);
+	startMotor(portMotor, -80);
+
+	while(trip == false)
+	{
+		if(SensorValue(limitSwitch) == 1)
+		{
+			trip = true;
+			delay(20);
+		}
+		else
+		{
+			delay(20);
+		}
+	}
+	stopMotor(starboardMotor);
+	stopMotor(portMotor); //stop motors
+
+	stopTask(driveTask);
+}
+
+task main()
+{
+	//things to run once:
+	motorInit();
+	startTask(driveTask, 10);
+	startTask(blink, 5);
+	while(true)
+	{
+		delay(2000); //alotocate all time for task CPU
+	}
+}
diff --git a/MiniChallenge3/source.c b/MiniChallenge3/source.c
new file mode 100644
index 0000000..5b6a54e
--- /dev/null
+++ b/MiniChallenge3/source.c
@@ -0,0 +1,13 @@
+#pragma config(Sensor, dgtl1,  limitSwitch,    sensorTouch)
+#pragma config(Sensor, dgtl2,  bumpSwitch,     sensorTouch)
+#pragma config(Sensor, dgtl12, LEDOne,         sensorLEDtoVCC)
+#pragma config(Motor,  port2,           starboardMotor, tmotorVex393_MC29, openLoop)
+#pragma config(Motor,  port3,           portMotor,     tmotorVex393_MC29, openLoop)
+//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
+
+task main()
+{
+	//task: port wheel turns cw at 127/2 while the bump switch is pressed
+	//task: turn the starboard motor CW, then CCW alternativly for 1 rev each at low speed, while the limit switch is pressed
+	//task: ultrasonic sensor tpo turn off a lit LED when an object is closer than 4 inches, the first instance of this will start the servo motor running... (missing information)
+}
diff --git a/SimpleBlink/source.c b/SimpleBlink/source.c
new file mode 100644
index 0000000..b78525f
--- /dev/null
+++ b/SimpleBlink/source.c
@@ -0,0 +1,20 @@
+#pragma config(Sensor, dgtl1,  limitSwitch,    sensorTouch)
+#pragma config(Sensor, dgtl12, LEDOne,         sensorLEDtoVCC)
+//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
+
+
+task main()
+{
+	while(true)
+	{
+		if(sensorValue(limitSwitch) == true)
+		{
+			turnLEDOn(LEDOne);
+		}
+		else
+		{
+			turnLEDOff(LEDOne);
+		}
+		delay(30);
+	}
+}
diff --git a/firstCodeProject/blink.h b/firstCodeProject/blink.h
new file mode 100644
index 0000000..0c95dd8
--- /dev/null
+++ b/firstCodeProject/blink.h
@@ -0,0 +1,33 @@
+task blink()
+{
+	int blinkState = true;
+	while(true)
+	{
+		if(blinkState == true) //If you are toggled on...
+		{
+			turnLEDOn(LEDOne);
+			delay(1000); //...do the code
+			turnLEDOff(LEDOne);
+			delay(1000); //more code
+		}
+		else
+		{
+			delay(300); //sets the rescan rate
+		}
+
+		//delay(50);
+
+		//toggle
+		if(SensorValue(limitSwitch) == true) //If the switch is pressed
+		{
+			if(blinkState == true) //and you are blinking
+			{
+				blinkState = false; //disable the blink
+			}
+			else //if you press the switch and you are not blinking
+			{
+				blinkState = true;
+			}
+		}
+	}
+}
diff --git a/firstCodeProject/runMotors.h b/firstCodeProject/runMotors.h
index 3f10bfd..64fbd42 100644
--- a/firstCodeProject/runMotors.h
+++ b/firstCodeProject/runMotors.h
@@ -1,11 +1,7 @@
-void runMotors()
+task runMotors()
 {
-	//int runSpeed = 88; //the speed the motors will run
-
-	//turn one revolution
-	delay(2000);
-	if(limitSwitch != true)
-	{
-		//setMultipleMotors(0, portMotor, starboardMotor); //stop
-	}
+	/*turn one revolutoon
+	wait two seconds
+	reverse untill the bump switch is pressed
+	*/
 }
diff --git a/firstCodeProject/source.c b/firstCodeProject/source.c
index e461c54..82ecb4c 100644
--- a/firstCodeProject/source.c
+++ b/firstCodeProject/source.c
@@ -7,14 +7,19 @@
 
 #include "toggleBlink.h" //Blink on/off command
 #include "runMotors.h" //motor drive command
+#include "blink.h" //include the blink subroutine
 
 int operation = true;
+//int blinkState = false;
 
-task main()
+task main() //This task called upon robot start
 {
-	while(operation == true)
+	startTask(runMotors); //Start the motors Subroutine
+	startTask(blink); //Start the blink subroutine
+
+	while(operation == true) //While there are no critical opperations
 	{
-		toggleBlink();
-		runMotors();
+		toggleBlink(); //run the blink routine
+		delay(10);
 	}
 }
diff --git a/firstCodeProject/toggleBlink.h b/firstCodeProject/toggleBlink.h
index cfba703..0ca3ee7 100644
--- a/firstCodeProject/toggleBlink.h
+++ b/firstCodeProject/toggleBlink.h
@@ -1,23 +1,18 @@
 void toggleBlink() //This function will toggle the flashing of an LED
 {
-	int toggleBlink = false;
+	/*delete me!!*/int blinkState = true;
 
 	if(SensorValue(bumpSwitch) == true) //if you push the bump switch..
 	{
-		if(toggleBlink == false) //..and the toggle is off...
+		if(blinkState == false) //..and the toggle is off...
 		{
-			toggleBlink = true; //turn the toggle on.
+			blinkState = true; //turn the toggle on.
+			delay(30);
 		}
 		else //..and the toggle is on...
 		{
-			toggleBlink = false; //turn the toggle off.
+			blinkState = false; //turn the toggle off.
+			delay(30);
 		}
 	}
-
-	if(toggleBlink == true) //If you are toggled on...
-	{
-		turnLEDOn(LEDOne);
-		delay(1000); //...do the code
-		turnLEDOff(LEDOne);
-	}
 }