Example of code to toggle between two modes on a robot in RobotC

toggleMode.c

bool myToggleEnabled = true;

//--------------------  Code for toggling between modes --------------------//

//Let's say you must press all 4 buttons on the back of the controller to switch modes.
if((vexRT[Btn5U] == 1)&&(vexRT[Btn5D] == 1)&&(vexRT[Btn6U] == 1)&&(vexRT[Btn6D] == 1))
{
	while((vexRT[Btn5U] == 1)&&(vexRT[Btn5D] == 1)&&(vexRT[Btn6U] == 1)&&(vexRT[Btn6D] == 1))
	{
		//Wait for toggle buttons to be released
		//Otherwise, it toggles really fast, which I indeed learned that the hard way
		wait1Msec(10);
	}
	myToggleEnabled = !myToggleEnabled;
}

//--------------------  Code for actually moving the claw --------------------//
if(myToggleEnabled)
{
	//Code for Mode 1, when the toggle is enabled (e.g. auto claw mode)
	if(vexRT[Btn5U] == 1)
	{
		motor[myClaw] = -80;
		wait1Msec(250);
		motor[myClaw] = 0;
	}
	//Button 6 Up for closing claw
	else if(vexRT[Btn6U] == 1)
	{
		motor[myClaw] = 80;
		wait1Msec(250);
		//Keep a tiny bit of closing force on the cone (or just setting to 0 also works)
		motor[myClaw] = 16;
	}
}
else
{
	//Code for Mode 2, when the toggle is disabled (e.g. manual claw mode)
	//Button 5 Up for opening claw
	if(vexRT[Btn5U] == 1)
	{
		motor[myClaw] = -80;
	}
	//Button 6 Up for closing claw
	else if(vexRT[Btn6U] == 1)
	{
		motor[myClaw] = 80;
	}
	//If neither button is pressed
	else
	{
		//Keep a tiny bit of closing force on the cone (or just setting to 0 also works)
		motor[myClaw] = 16;
	}
}