program test {
	
	#include <RCX2.h>
	#include <RCX2MLT.h>
	#include <RCX2Sounds.h>
	#include <RCX2Def.h>
	var vPolseMax = 0
	var vPolseMin = 0
	var vHightMax = 0
	var vHightMin = 0
	var vSwingMax = 0
	var vSwingMin = 0
	var vSwingLeft = 0
	var vSwing = 0
	var vPolseSet = 0
	var vHightSet = 0
	var vSwingSet = 0
	var vReady = 0
	var vPolseS2 = 0
	var vHightS2 = 0
	var vSwingS2 = 0
	var vAirOK = 0
	var vHandClosed = 0
	var vRunCoordinates = 0
	var vGoLeft = 0
	sensor touch2 on 2
	touch2 is switch as boolean
	event tPress_touch2EventPress when touch2.pressed
	
	
	event equal_messageEventEqual when message = 9
	
	event equal_messageEventEqual0 when message = 10
	
	event equal_messageEventEqual1 when message = 11
	
	event equal_vRunCoordinatesEventEqual when vRunCoordinates = 10
	
	event equal_vRunCoordinatesEventEqual0 when vRunCoordinates = 20
	
	sensor rotation1 on 1
	rotation1 is rotation as angle
	sensor rotation3 on 3
	rotation3 is rotation as angle
	event equal_vRunCoordinatesEventEqual1 when vRunCoordinates = 30
	
	event equal_vAirOKEventEqual when vAirOK = 10
	
	event equal_messageEventEqual2 when message = 3
	
	macro MOTORCONTROL {
		vPolseS2 = vPolseSet
		vPolseS2 += 100
		vHightS2 = vHightSet
		vHightS2 += 250
		vReady = 0
		while vReady = 0 {
			vReady = 10
			if rotation1 is (vHightSet / 10)..(vHightS2 / 10){
				float [ A  ] 
			}
			else
			{
				vReady = 0
				if rotation1 > (vHightSet / 10){
					direction [  ] [ A ]
				}
				else
				{
					direction [ A  ] [ ]
				} 
				on [ A  ] 
			} 
			if vSwing = vSwingSet{
				float [ B  ] 
			}
			else
			{
				vReady = 0
				if vSwing > vSwingSet{
					vSwingLeft = 0
					direction [ B  ] [ ]
				}
				else
				{
					vSwingLeft = 10
					direction [  ] [ B ]
				} 
				on [ B  ] 
			} 
			if rotation3 is (vPolseSet / 10)..(vPolseS2 / 10){
				float [ C  ] 
			}
			else
			{
				vReady = 0
				if rotation3 > (vPolseSet / 10){
					direction [  ] [ C ]
				}
				else
				{
					direction [ C  ] [ ]
				} 
				on [ C  ] 
			} 
		}
	}
	
	main {
		ext InterfaceType "kFreestyle"
		rcx_ClearTimers
		bbs_GlobalReset([A B C])
		trigger equal_vAirOKEventEqual
		trigger equal_messageEventEqual
		start TouchWatcher0
		start IRWatcher1
		start IRWatcher2
		start IRWatcher3
		start variableWatcher4
		start variableWatcher5
		rcx_Priority( 8)
		trigger tPress_touch2EventPress
		rcx_ClearIRMessage
		rcx_ClearIRMessage
		trigger equal_messageEventEqual0
		rcx_ClearIRMessage
		trigger equal_messageEventEqual1
		trigger equal_vRunCoordinatesEventEqual
		trigger equal_vRunCoordinatesEventEqual1
		vRunCoordinates = 0
		vAirOK = 0
		vHandClosed = 0
		direction [ A B C  ] [ ]
		vPolseMax = 17700
		vPolseMin = -6900
		vHightMax = 0
		vHightMin = 17400
		vSwingMax = 170
		vSwingMin = -170
		vSwingLeft = 10
		vSwing = 0
		rcx_Calibrate(4,5)
		clear Rotation1
		clear Rotation3
		display rotation1
		wait until equal_vAirOKEventEqual
		vGoLeft = -10
		repeat {
			vPolseSet = -1000
			vHightSet = 15000
			vSwingSet = 0
			send 4
			vRunCoordinates = 10
			while vRunCoordinates = 10 {
			}
			if vAirOK = 10{
			}
			else
			{
				wait until equal_vAirOKEventEqual
			} 
			send 6
			wait until equal_messageEventEqual
			clear message
			vPolseSet = 5000
			vHightSet = 5000
			if vGoLeft = 10{
				vSwingSet = 80
			}
			else
			{
				vSwingSet = -80
			} 
			rcx_Multiply( vGoLeft,-10)
			vRunCoordinates = 10
			while vRunCoordinates = 10 {
			}
			send 8
			wait 200
			send 4
		} until equal_messageEventEqual2
		vRunCoordinates = 20
		wait 100
		send 3
		vPolseSet = 0
		vHightSet = vHightMax
		vSwingSet = 0
		vRunCoordinates = 30
		while vRunCoordinates = 30 {
		}
		sound 1
		stop tasks
	}
	
	
	watcher TouchWatcher0 monitor tPress_touch2EventPress
	{ 
		rcx_Priority( 3 )
		if vSwingLeft = 10{
			vSwing += 10
		}
		else
		{
			vSwing -= 10
		} 
	} restart on event
	watcher IRWatcher1 monitor equal_messageEventEqual
	{
		rcx_Priority( 6 )
		clear message
		vHandClosed = 10
	} restart on event
	watcher IRWatcher2 monitor equal_messageEventEqual0
	{
		rcx_Priority( 6 )
		clear message
		vAirOK = 10
	} restart on event
	watcher IRWatcher3 monitor equal_messageEventEqual1
	{
		rcx_Priority( 6 )
		clear message
		vAirOK = 0
	} restart on event
	watcher variableWatcher4 monitor equal_vRunCoordinatesEventEqual
	{
		rcx_Priority( 2 )
		repeat {
			MOTORCONTROL
			vRunCoordinates = 20
		} until equal_vRunCoordinatesEventEqual0
		vRunCoordinates = 0
	} restart on event
	watcher variableWatcher5 monitor equal_vRunCoordinatesEventEqual1
	{
		rcx_Priority( 2 )
		MOTORCONTROL
		vRunCoordinates = 0
	} restart on event
}