Changed a lot..

Should work

TumbleBot Basic/debug.c

@@ -1,25 +1,27 @@
-#pragma config(Motor,  port1,           starboardFore, tmotorVex393_HBridge, openLoop, reversed)
-#pragma config(Motor,  port5,           portFore,      tmotorServoContinuousRotation, openLoop)
-#pragma config(Motor,  port6,           portAft,       tmotorServoContinuousRotation, openLoop)
-#pragma config(Motor,  port10,          starboardAft,  tmotorVex393_HBridge, openLoop, reversed)
+#pragma config(Sensor, dgtl1,  LED,            sensorLEDtoVCC)
+#pragma config(Sensor, dgtl12, bumpSwitch,     sensorTouch)
+#pragma config(Motor,  port1,           starboardAft,  tmotorVex393_HBridge, openLoop, reversed)
+#pragma config(Motor,  port5,           portAft,       tmotorServoContinuousRotation, openLoop)
+#pragma config(Motor,  port6,           starboardFore, tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port10,          portFore,      tmotorServoContinuousRotation, openLoop)
 //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
 
 //This function by Joe
 
 void starboardDriveTrain(float speed) //function to drive each of the starboard wheels using value speed,
 {
-	int tune = 1; //tune adjust for the variablity of the wheels
+	int tune = 1.0000; //tune adjust for the variablity of the wheels
 
-	startMotor(starboardFore, speed * tune); //start both motors on this side running
-	startMotor(starboardAft, speed * tune);
+	startMotor(starboardFore, (speed * tune)); //Set both motors to the speed given and multiply them by thr tune value
+	startMotor(starboardAft, (speed * tune));
 }
 
 void portDriveTrain(float speed) //function to drive each of the port wheels using value speed,
 {
-	int tune = 1; //tune adjust for the variablity of the wheels
+	int tune = 1.0000; //tune adjust for the variablity of the wheels
 
-	startMotor(portFore, speed * tune); //start both motors on this side running
-	startMotor(portAft, speed * tune);
+	startMotor(portFore, (speed * tune)); //Set both motors to the speed given and multiply them by thr tune value
+	startMotor(portAft, (speed * tune));
 }
 
 //this function by joe, remeber to include my drivetrain.c before including this file
@@ -28,9 +30,9 @@ void easyGas(int targetSpeed, int accelValue, float accelDirection)
 {
 	float speed = 0; //arb value for the current speed
 
-	while(speed < targetSpeed) //while you are not at target speed
+	while(speed != targetSpeed && speed < 127 && speed > -127) //while you are not at target speed OR the speed value is bigger than the max output, THIS WILL TRIGGER IN CASE OF AN ERROR
 	{
-		speed = speed + accelDirection; //add 0.5 to the speed value
+		speed = speed + accelDirection; //add accelDirection to the speed value
 		delay(accelValue); //delay for this long
 		starboardDriveTrain(speed); //set the speed
 		portDriveTrain(speed);
@@ -39,7 +41,14 @@ void easyGas(int targetSpeed, int accelValue, float accelDirection)
 
 task main()
 {
-	easyGas(100, 10, 0.5); //accelerate at a rate of 0.5 every 5ms to 100 pwm
+	while(SensorValue[bumpSwitch] != true) //while bumpswitch is not pressed
+	{
+		delay(10); //wait 10ms
+	}
+
+	delay(900); //after pressing the bump switch, wait 900ms before starting the program
+
+	easyGas(100, 5, 1); //accelerate at a rate of 0.5 every 5ms to 100 pwm
 	delay(4000); //magic delay for the leangth of the
-	easyGas(100, 20, -0.5);	//accelerate at a rate of -0.5 every 5ms to 100 pwm
+	easyGas(0, 5, -1);	//accelerate at a rate of -0.5 every 5ms to 100 pwm
 }

TumbleBot Basic/easyGas.h

@@ -1,14 +1,13 @@
 //this function by joe, remeber to include my drivetrain.c before including this file
 
-void easyGas(int targetSpeed, int accelValue, float accelDirection)
-{
-	float speed = 0; //arb value for the current speed
+void easyGas(int robotSpeed, int targetSpeed, int accelValue, float accelDirection)
+{ //The speed the robot is going, the speed you want it to go, the value of deacceleration, the direction and magnitude
 
-	while(speed != targetSpeed || speed > 127) //while you are not at target speed OR the speed value is bigger than the max output, THIS WILL TRIGGER IN CASE OF AN ERROR
+	while(robotSpeed != targetSpeed && robotSpeed < 127 && robotSpeed > -127) //while you are not at target speed OR the speed value is bigger than the max output, THIS WILL TRIGGER IN CASE OF AN ERROR
 	{
-		speed = speed + accelDirection; //add accelDirection to the speed value
+		robotSpeed = robotSpeed + accelDirection; //add accelDirection to the speed value
 		delay(accelValue); //delay for this long
-		starboardDriveTrain(speed); //set the speed
-		portDriveTrain(speed);
+		starboardDriveTrain(robotSpeed); //set the speed
+		portDriveTrain(robotSpeed);
 	}
 }

TumbleBot Basic/source.c

@@ -1,23 +1,36 @@
-#pragma config(Sensor, dgtl1,  bumpSwitch,     sensorTouch)
-#pragma config(Motor,  port6,           starboardFore, tmotorVex393_HBridge, openLoop, reversed)
-#pragma config(Motor,  port10,           portFore,      tmotorServoContinuousRotation, openLoop)
+#pragma config(Sensor, dgtl1,  LED,            sensorLEDtoVCC)
+#pragma config(Sensor, dgtl12, bumpSwitch,     sensorTouch)
+#pragma config(Motor,  port1,           starboardAft,  tmotorVex393_HBridge, openLoop, reversed)
 #pragma config(Motor,  port5,           portAft,       tmotorServoContinuousRotation, openLoop)
-#pragma config(Motor,  port1,          starboardAft,  tmotorVex393_HBridge, openLoop, reversed)
+#pragma config(Motor,  port6,           starboardFore, tmotorVex393_MC29, openLoop, reversed)
+#pragma config(Motor,  port10,          portFore,      tmotorServoContinuousRotation, openLoop)
 //*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
 
 #include "drivetrain.h" //include the drivetrain header
 #include "easyGas.h" //include the easygas header
 
+int i = 0;
+
 task main()
 {
-	//while(SensorValue[bumpSwitch] != true) //while bumpswitch is not pressed
-	//{
-	//	delay(10); //wait 10ms
-	//}
+	while(SensorValue[bumpSwitch] != true) //while bumpswitch is not pressed
+	{
+		delay(50); //wait 50ms
+		turnLEDOn(LED);
+		delay(50);
+		turnLEDOff(LED);
+	}
 
-	delay(900); //after pressing the bump switch, wait 900ms before starting the program
+	while( i < 6)
+	{
+		delay(100);
+		turnLEDOn(LED);
+		delay(100);
+		turnLEDOff(LED);
+		i++;
+	}
 
-	easyGas(100, 5, 0.5); //accelerate at a rate of 0.5 every 5ms to 100 pwm
+	easyGas(0, 100, 5, 1); //Accelerate from 0, to 100, in time increments of 5ms, forward.
 	delay(4000); //magic delay for the leangth of the
-	easyGas(100, 5, -0.5);	//accelerate at a rate of -0.5 every 5ms to 100 pwm
+	easyGas(100, 0, 5, -1);	//Accelerate from 100, to 0, in time increments of 5ms, backward.
 }