periodic

If the coral sensor is triggered, set the hasPiece boolean to true. (hasPiece = true, sensorDetect = true), motors spinning If the manipulator has a piece, but the sensor no longer detects it, stop the motors. (hasPiece = true, sensorDetect = false), motors stop If the manipulator should start, but the motors are not running, start the motors (hasPiece = false, sensorDetect = false), motors spinning by setting if it has a piece to false, due to the fact that the manipulator should not have a piece after the motors are started again.

The manipulator motors should be on by default, as per Aaron's request.