//*!!Sensor,    S1,         lichtsensorA, sensorReflection,      ,               !!*//
//*!!Sensor,    S2,         lichtsensorB, sensorLightActive,      ,              !!*//
//*!!Sensor,    S3,         lichtsensorC, sensorReflection,      ,               !!*//
//*!!                                                                            !!*//
//*!!Start automatically generated configuration code.                           !!*//
const tSensors lichtsensorA         = (tSensors) S1;   //sensorReflection   //*!!!!*//
const tSensors lichtsensorB         = (tSensors) S2;   //sensorLightActive  //*!!!!*//
const tSensors lichtsensorC         = (tSensors) S3;   //sensorReflection   //*!!!!*//
//*!!CLICK to edit 'wizard' created sensor & motor configuration.                !!*//

//*!!CLICK to edit 'wizard' created sensor & motor configuration.                !!*//


// Linefollowerprogram for a rover with 3 light sensors. Made by Laurens200

int sensorA = 0;
int sensorB = 0;
int sensorC = 0;

task checksensor()        // Checkt steeds de sensoren.
{
  while(true)
	{
  if(SensorValue[S1] < 30)
  	{sensorA = 1;}
  	else{sensorA = 0;}
  if(SensorValue[S2] < 40)
  	{sensorB = 1;}
  	else{sensorB = 0;}
  if(SensorValue[S3] < 40)
  	{sensorC = 1;}
  	else{sensorC = 0;}
}
}

task main()
{
	StartTask(checksensor);    // Start de checksensortaak.

	while(true)


		{
					motor[motorB] = 127;          //motoren aan.
					motor[motorC] = 127;
					while(sensorB == 1)			// wacht tot sensorB = wit
					{}
					while(sensorA == 0 && sensorC == 0) // wacht totdat sensor A of C zwart zijn.
					{}
					if(sensorA == 1)				// als A zwart is...
					{
							motor[motorB] = 0;
							motor[motorC] = 127;
					}
					else						// Als C zwart is
					{
							motor[motorB] = 127;
							motor[motorC] = 0;
					}
					while(sensorB == 0) // wacht tot B is zwart
					{}
					motor[motorB] = 0;
					motor[motorC] = 0;
	}

}