Here You can find my program at the moment. It's not a fixed program, of course.
I'm testing it






 // LABIRYNTHE SOLVER 1


int sem;
int lastlevel;           // To store the previous level
int qdixdegres;

task send_signal()
{
  while(true)
    {SendMessage(0); Wait(10);}
}

task check_signal()
{
  while(true)
  {
    lastlevel = SENSOR_2;
    if(SENSOR_2 > lastlevel + 120)
    {
    until (sem == 0); sem = 1 ;
    OnFwd (OUT_C);
     OnRev (OUT_A);
     Wait(qdixdegres);
     OnFwd(OUT_A+OUT_C);}          // A definir
     sem = 0;
  }
}
task rien_a_droite()
{
  while (true)
  {Wait (250);
   if (SENSOR_3 == 0)
   {
    until (sem == 0); sem = 1;
     Wait (70);
     OnFwd (OUT_A);
     OnRev (OUT_C);
     Wait(qdixdegres);
     OnFwd(OUT_A+OUT_C);}         // A definir  laisser un delai pour que le senseur se remette en ==1

     sem = 0;
   }

  }




task main ()
{
  qdixdegres = 205;
  sem = 0 ;
  SetSensorType(SENSOR_2, SENSOR_TYPE_LIGHT);
  SetSensorMode(SENSOR_2, SENSOR_MODE_RAW);
  SetSensorType(SENSOR_1, SENSOR_TYPE_TOUCH);
  SetSensorMode(SENSOR_1, SENSOR_MODE_BOOL);
  SetSensorType(SENSOR_3, SENSOR_TYPE_TOUCH);
  SetSensorMode(SENSOR_3, SENSOR_MODE_BOOL);

 start send_signal;
 start check_signal;
 start rien_a_droite;
OnFwd (OUT_A+OUT_C);



  }