void
run(){
    *SENSOR_COUNT = SENSOR_COUNT_RESET;
    *SENSOR_VELOCITY = 0;
	delayLoop(INIT_LOOP_SLEEP_TIME, INIT_LOOP_COUNT);
	motor(MOTOR_NUMBER, MOTOR_POWER);
    sleep(1.0);
	if(*SENSOR_VELOCITY < 0){
        terminate(
                "\n\nWrong way -     terminating");
	}
	waitForPosition(SENSOR_COUNT_FIRE);
	printf("   Fire!");
	beep();
	beep();
	*SERVO = SERVO_FIRE_POSITION;
	waitForPosition(SENSOR_COUNT_STOP);
	motor(MOTOR_NUMBER, 0);
	printf(" ... Reset");
	beep();
	beep();
	*SERVO = SERVO_RESET_POSITION;
	running = 0;
	sleep(2.0);
    printf(LOAD_MSG);
}