#pragma config(Sensor, S1, EyeRight, sensorLightActive)

#pragma config(Sensor, S2, EyeLeft, sensorColorNxtFULL)

#pragma config(Sensor, S4, sonarsensor, sensorSONAR)

#pragma config(Motor, motorA, right, tmotorNXT, PIDControl, driveRight, encoder)

#pragma config(Motor, motorB, left, tmotorNXT, PIDControl, driveLeft, encoder)

//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

#define rightThreshold 45

#define speedlimit 80

int i = 0;

task accelerate();

task deaccelerate();

task geluid();

task geluid()

{

while(1)

{

playSoundFile("paardg.rso");

nVolume = 4;

}

}

task deaccelerate ()

{

stopTask(accelerate);

int k = i;

for (int j = k; j >= 0; j--)

{

i = j;

wait1Msec(3);

}

startTask(accelerate);

stopTask(deaccelerate);

}

task accelerate ()

{

stopTask(deaccelerate);

for (int j = 0; j <= speedlimit; j++)

{

wait10Msec(3);

i = j;

}

stopTask(accelerate);

}

task main()

{

startTask(geluid);

while(1)

{

startTask(accelerate);

while (SensorValue(sonarsensor) > 5)

{

startTask(geluid);

while (SensorValue(sonarsensor) > 30)

{

if ((SensorValue(EyeLeft) == BLACKCOLOR) && (SensorValue(EyeRight) <= rightThreshold))

{

//

// Beide sensoren zien lijn, oftewel kruispunt.

//

clearSounds();

motor[left] = 0;

motor[right] = 0;

}

if ((SensorValue(EyeLeft) == BLACKCOLOR)&&(SensorValue(EyeRight)> rightThreshold))

{

//

// Only left sensor sees the line, we must turn left.

//

motor[left] = i;

motor[right] = i/(0.1 * speedlimit);

}

if ((SensorValue(EyeLeft) == WHITECOLOR) &&(SensorValue(EyeRight)< rightThreshold))

{

//

// Only right sensor sees the line, turn right.

//

motor[left] = i/(0.1 * speedlimit);

motor[right] = i;

}

if ((SensorValue(EyeLeft) == WHITECOLOR)&&(SensorValue(EyeRight) > rightThreshold))

{

motor[left] = i/2;

motor[right] = i/2;

}

wait1Msec(5);

}

clearSounds();

startTask(deaccelerate);

}

clearSounds();

i = 0;

}

}