/*
/0LOGBOOK
0

*/
program test {
	
	#include <RCX2.h>
	#include <RCX2MLT.h>
	#include <RCX2Sounds.h>
	#include <RCX2Def.h>
	var straight = 0
	var brightness = 0
	var step = 0
	var TopStep = 0
	var LookBright = 0
	var vLSample = 0
	var vLowStep = 0
	var vTopStep = 0
	var vMaxLight = 0
	var vMinLight = 0
	var vDirection = 0
	var vTimer = 0
	var vCollision = 0
	sensor touch1 on 1
	touch1 is switch as boolean
	event tPress_touch1EventPress when touch1.pressed
	
	
	sensor rotation2 on 2
	rotation2 is rotation as angle
	event greater_rotation2EventHigh when rotation2 > 23
	
	event less_rotation2EventLow when rotation2 < 1
	
	event greater_rotation2EventHigh0 when rotation2 > 11
	
	sensor light3 on 3
	light3 is light as percent
	event equal_straightEventEqual when straight = -10
	
	macro RECHTDOOR {
		on [ A C  ]  for 300
		straight = -10
	}
	macro LOOK_V10 {
		off [ A C  ] 
		vLSample = -10
		vTopStep = -10
		vLowStep = -10
		vMaxLight = -10
		vMinLight = 1010
		on [ B  ] 
		repeat {
		} until greater_rotation2EventHigh
		reverse [ B  ] 
		repeat {
			vLSample = (light3*10)
			if vLSample > vMaxLight{
				vMaxLight = vLSample
				vTopStep = (rotation2*10)
			}
			else
			{
			} 
			if vLSample < vMinLight{
				vMinLight = vLSample
				vLowStep = (rotation2*10)
			}
			else
			{
			} 
		} until less_rotation2EventLow
		reverse [ B  ] 
		repeat {
		} until greater_rotation2EventHigh0
		off [ B  ] 
		straight = 10
	}
	macro VAR_TURN_V10 {
		if LookBright = 10{
			tone 4000 for 10
			vDirection = vTopStep
		}
		else
		{
			tone 250 for 10
			vDirection = vLowStep
		} 
		if vDirection = 120{
		}
		else
		{
			vTimer = vDirection
			rcx_Divide(vTimer,240)
			if vDirection < 120{
				vTimer = abs (vTimer ) * (-1)
				vTimer += 5
				on [ A  ]  for (vTimer*10)
			}
			else
			{
				vTimer -= 5
				on [ C  ]  for (vTimer*10)
			} 
		} 
	}
	
	main {
		ext InterfaceType "kFreestyle"
		rcx_ClearTimers
		bbs_GlobalReset([A B C])
		start TouchWatcher0
		start variableWatcher1
		rcx_Priority( 8)
		trigger tPress_touch1EventPress
		trigger equal_straightEventEqual
		try {
			straight = 0
			LookBright = -10
			vCollision = 0
			global dir [  ] [ A B C  ]
			power [ B  ] 1
			on [ B  ]  for 200
			rcx_Calibrate(4,2)
			clear Rotation2
			power [ B  ] 4
			reverse [ B  ] 
			on [ B  ] 
		} retry on fail
		try {
			repeat {
			} until greater_rotation2EventHigh0
		} retry on fail
		try {
			off [ B  ] 
			power [ A C  ] 8
			straight = 10
		} retry on fail
		try {
			forever {
				RECHTDOOR
			}
		} retry on fail
	}
	
	
	watcher TouchWatcher0 monitor tPress_touch1EventPress
	{ 
		rcx_Priority( 3 )
		try {
			bb_Backward(A, C, 100)
			off [ A C  ] 
			reverse [ A C  ] 
			vCollision += 10
			if vCollision > 30{
				vCollision = 0
				if LookBright = 10{
					LookBright = -10
				}
				else
				{
					LookBright = 10
				} 
			}
			else
			{
			} 
			LOOK_V10
			VAR_TURN_V10
			straight = 10
		} restart on fail
	} restart on event
	watcher variableWatcher1 monitor equal_straightEventEqual
	{
		rcx_Priority( 2 )
		try {
			LOOK_V10
			VAR_TURN_V10
		} restart on fail
	} restart on event
}