HI,

I am trying to write a code for autonomous period.
1.I write a code but it did only first action it is not continue second action?
2. I have 2 12 V motor for wheels , 2 NXT motors I want them turn unlimited , 2 Servo motors to open robot arm. I want robot run 5 second straight and turn right and go straight until touch sensor press and 2 NXT motors turn unlimited.
I appreciate your help....

HERE IS HOW I DID MY CODE

#pragma config(Hubs, S1, HTMotor, HTServo, none, none)
#pragma config(Sensor, S2, top_touch_sensor, sensorTouch)
#pragma config(Motor, motorB, betonarmright, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, motorC, betonarmleft, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C1_1, right_wheel, tmotorNormal, openLoop, reversed)
#pragma config(Motor, mtr_S1_C1_2, left_wheel, tmotorNormal, openLoop)
#pragma config(Servo, srvo_S1_C2_1, arm_servo_right, tServoStandard)
#pragma config(Servo, srvo_S1_C2_2, arm_servo_left, tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Autonomous Mode Code Template
//
// This file contains a template for simplified creation of an autonomous program for an Tetrix robot
// competition.
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c" //Include file to "handle" the Bluetooth messages.


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// initializeRobot
//
// Prior to the start of autonomous mode, you may want to perform some initialization on your robot.
// Things that might be performed during initialization include:
// 1. Move motors and servos to a preset position.
// 2. Some sensor types take a short while to reach stable values during which time it is best that
// robot is not moving. For example, gyro sensor needs a few seconds to obtain the background
// "bias" value.
//
// In many cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

void initializeRobot()
{
// Place code here to sinitialize servos to starting positions.
// Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.

return;
}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Main Task
//
// The following is the main code for the autonomous robot operation. Customize as appropriate for
// your specific robot.
//
// The types of things you might do during the autonomous phase (for the 2008-9 FTC competition)
// are:
//
// 1. Have the robot follow a line on the game field until it reaches one of the puck storage
// areas.
// 2. Load pucks into the robot from the storage bin.
// 3. Stop the robot and wait for autonomous phase to end.
//
// This simple template does nothing except play a periodic tone every few seconds.
//
// At the end of the autonomous period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{

initializeRobot();

waitForStart(); // Wait for the beginning of autonomous phase.

motor[mtr_S1_C1_1] = 100;
wait1Msec(5000);
motor[mtr_S1_C1_2] = -100;
wait1Msec(5000);

//Now I want robot to turn right or left
motor[mtr_S1_C1_1] = 100;
wait1Msec(2000);
motor[mtr_S1_C1_2] = 0;
wait1Msec(2000);
// Now NOw I want 2 NXT motors (same possision) to make a 2 turn

motor [motorB]= 100
motor[motorC] = 100
wait1Msec(99000)
// while NXT motors turns , I want robot to go straight until touch sensor pressed
motor[mtr_S1_C1_1] = 100;
wait1Msec(54000);
motor[mtr_S1_C1_2] = -100;
wait1Msec(54000);
//I DONT KNOW HOW TO CODE TOUCH SENSOR...????? ROBOT WILL STOP WHEN TOUCH SENSOR PRESS AND nxt MOTORS WILL TURN UNLIMITED.

while (true)
{}
}

Here is my understanding of you code. In other words, I don't know what you are trying to do.

Also, at a couple points you wait for more than 32767 milliseconds. These functions take maximum values of 32767, according to the robotC documentation. Use wait10Msec and wait100Msec for longer times.