Gina Fugate summit some code that her Lego team had worked on this past year that they were having a little trouble with. They use a action based style a different task (mission) having it own action and the action main serving a menu to select the action. They did have some unneeded lines of code and but they did not explain why the robot was crashing. The logic and syntax seem sound. Tim was not able repair the action version of the program but using their code he created a linear program where that was in the actions is placed in the if and else if statements. With this version it is possible to start each mission without needing to relaunch the brick.

I have provide both the original code and the Tim Crane linear code with videos.