//*!!Sensor,    S1,              SENSOR1, sensorLightInactive,      ,            !!*//
//*!!                                                                            !!*//
//*!!Start automatically generated configuration code.                           !!*//
const tSensors SENSOR1              = (tSensors) S1;   //sensorLightInactive //*!!!!*//
//*!!CLICK to edit 'wizard' created sensor & motor configuration.                !!*//

/*
Program for ROBOARM II. This is the NXT part.
The NXT brick responds to six different light signals sent by the RCX.
The signals are received by a light sensor (sensormode inactive) on port 1.
Then it turns on one of motors, depending on the received signal.
Please go to http://www.freewebs.com/laurens200/ for more robots and a video of this one.
This program is written using RobotC. (http://www.robotc.net)
*/

int bit2 = 0;
int bit3 = 0;
int bit4 = 0;


task main()
{
		while(true)
		{
					while(SensorValue[S1] < 50){} 		// Do nothing until light flash.
					wait1Msec(170);
					if(SensorValue[S1] > 50) {	bit2 =1;}// bit2  is 1 or 0
					wait1Msec(100);
					if(SensorValue[S1] > 50) {	bit3 =1;} // bit3  is 1 or 0
					wait1Msec(100);
					if(SensorValue[S1] > 50) {	bit4 =1;} // bit4  is 1 or 0
					///////////////////
					/* The following statements turn on one of motors,
					   depending on the received signal.*/
					///////////////////


					if(bit2 ==0 && bit3 ==0 && bit4 ==1)// signal 1001
					{

					motor[motorC] = 100;
					wait1Msec(500);
					while(SensorValue[S1] < 50){} //wait for next signal, then stop the motor.
					motor[motorC] = 0;
					}
					///////////////////
					///////////////////
					///////////////////
					if(bit2 ==1 && bit3 ==0 && bit4 ==0)// signal 1100
					{
					motor[motorC] = -100;
					wait1Msec(500);
					while(SensorValue[S1] < 50){} //wait for next signal, then stop the motor.
					motor[motorC] = 0;
					}
					///////////////////
					///////////////////
					///////////////////
					if(bit2 ==1 && bit3 ==1 && bit4 ==0)// signal 1110
					{

					motor[motorB] = -100;
					wait1Msec(1000);
					while(SensorValue[S1] < 50){} //wait for next signal, then stop the motor.
					motor[motorB] = 0;
					}
					///////////////////
					///////////////////
					///////////////////
					if(bit2 ==1 && bit3 ==1 && bit4 ==1)// signal 1111
					{

					motor[motorB] = 100;
					wait1Msec(500);
					while(SensorValue[S1] < 50){} //wait for next signal, then stop the motor.
					motor[motorB] = 0;
					}
					///////////////////
					///////////////////
					///////////////////
					if(bit2 ==0 && bit3 ==1 && bit4 ==1)// signal 1011
					{

					motor[motorA] = -100;
					wait1Msec(500);
					while(SensorValue[S1] < 50){} //wait for next signal, then stop the motor.
					motor[motorA] = 0;
					}
					///////////////////
					///////////////////
					///////////////////
					if(bit2 ==1 && bit3 ==0 && bit4 ==1)// signal 1101
					{
					motor[motorA] = 100;
					wait1Msec(500);
					while(SensorValue[S1] < 50){} //wait for next signal, then stop the motor.
					motor[motorA] = 0;
					}
					///////////////////
					///////////////////
					///////////////////
					bit2 = 0;		// reset the values.
					bit3 = 0;
					bit4 = 0;
					wait1Msec(500);		// do nothing for half a second to prevent errors.
		}
}