/*
/0LOGBOOK
0

*/
program test {
        
        #include <RCX2.h>
        #include <RCX2MLT.h>
        #include <RCX2Sounds.h>
        #include <RCX2Def.h>
        var lineFound = 0
        var finish = 0
        event equal_finishEventEqual when finish = 10
        
        sensor light2 on 2
        light2 is light as percent
        macro FORWARD1 {
                power [ A B C  ] 6
                bb_Forward(A, C, 30)
                counter1 = 40
                while counter1 > 0 {
                        if light2 < 39{
                                counter1 = 40
                                bb_TurnLeft(A, C, 10)
                        }
                        else
                        {
                                counter1 -= 10
                                bb_TurnRight(A, C, 10)
                        } 
                }
                counter1 = 40
                direction [ C  ] [ A ]
                on [ A C  ] 
                wait 10
                float [ A C  ] 
        }
        macro TAKESAMPLE {
                wait 100
                if light2 > 41{
                        bb_TuneCelebration(4)
                }
                else
                {
                        bb_TuneRibbet(2)
                } 
        }
        macro TURNLEFT {
                bb_Forward(A, C, 20)
                direction [ C  ] [ A ]
                power [ A B C  ] 2
                on [ A C  ] 
                wait 60
                while light2 > 38 {
                        bb_TurnLeft(A, C, 10)
                }
                bb_TurnLeft(A, C, 10)
                power [ A B C  ] 6
        }
        macro TURNRIGHT {
                bb_Forward(A, C, 30)
                direction [ A  ] [ C ]
                power [ A B C  ] 2
                on [ A C  ] 
                wait 60
                while light2 > 38 {
                        bb_TurnRight(A, C, 10)
                }
                power [ A B C  ] 6
        }
        macro FWD_END_GRID {
                repeat {
                        lineFound = 0
                        power [ A B C  ] 6
                        bb_Forward(A, C, 40)
                        counter1 = 40
                        while counter1 > 0 {
                                if light2 < 39{
                                        counter1 = 40
                                        lineFound = 10
                                        bb_TurnLeft(A, C, 10)
                                }
                                else
                                {
                                        counter1 -= 10
                                        bb_TurnRight(A, C, 10)
                                } 
                        }
                        counter1 = 40
                        direction [ C  ] [ A ]
                        on [ A C  ] 
                        wait 15
                        float [ A C  ] 
                        if lineFound < 10{
                                finish = 10
                        }
                        else
                        {
                                finish = 0
                        } 
                } until equal_finishEventEqual
                power [ A B C  ] 6
                bb_Backward(A, C, 40)
        }
        
        main {
                ext InterfaceType "kRoverBot"
                rcx_ClearTimers
                bbs_GlobalReset([A B C])
                try {
                        FORWARD1
                } retry on fail
                try {
                        TAKESAMPLE
                } retry on fail
                try {
                        TURNLEFT
                } retry on fail
                try {
                        TURNRIGHT
                } retry on fail
                try {
                        FWD_END_GRID
                } retry on fail
        }
        
        
}