Would you like some Marinara to go with that spaghetti?

Welll, here's my interpretation of your program.

HomeStart:
  Wait for button press on RB0
  When pressed, start motor

checkleaf:
  Wait for Leaf switch on RB1
  When triggered, apply brake for .5 sec. then stop motor

checkopt:
  Wait for Optical interrupter on RB2
  When triggered, start motor, and go back to checkleaf:
  Never ending loop
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