/*
Please visit my website: http://nxt.meinblock.eu
12/25/2008
25.12.2008
*/

#define LM OUT_B // linker Motor
#define RM OUT_C // rechter Motor
#define LS IN_2 // Lichtsensor
#define US IN_3 // Ultraschallsensor
#define SS IN_1 // Soundsensor
#define TS IN_4 // Tastsensor
#define MP 30 // Motorpower
#define TO 2 // Tolleranz

task main()
{
  SetSensorLowspeed(US);
  SetSensorSound(SS);
  SetSensorTouch(TS);
  SetSensorLight(LS);
  TextOut(10, LCD_LINE1, "schwarz...");
  Wait(2000);
  int black = Sensor(LS); // schwarz definieren
  TextOut(10, LCD_LINE1, "rechts daneben");
  Wait(2000);
  int white = Sensor(LS); // weiss definieren
  int average = (white+black)/2;
  int i = 0;
  while(true)
    {
      if(Sensor(LS) < (average-TO))
        {
          while(Sensor(LS) < (average-TO))
            {
              i++;
              OnFwd(LM, (2*MP+i)/2);
              OnFwd(RM, MP/3);
              Wait(20);
              if(i == (200-2*MP))
                break;
            }
          i = 0;
        }
      OnFwd(RM, MP);
      OnFwd(LM, MP);
      if(Sensor(LS) > (average+TO))
        {
          while(Sensor(LS) > (average+TO))
            {
              i++;
              OnFwd(RM, (2*MP+i)/2);
              OnFwd(LM, MP/3);
              Wait(20);
              if(i == (200-2*MP))
                break;
            }
          i = 0;
        }
      OnFwd(LM, MP);
      OnFwd(RM, MP);
    }
}