/*
Please visit my website: http://nxt.meinblock.eu
03/18/2008
18.03.2008
*/

#define ACCURACY 12

task main()
{
int ua = 0, ub = 0;
while(true)
  {
    ua = ua + MotorRotationCount(OUT_A);
    ub = ub + MotorRotationCount(OUT_B);
    if(ua/ACCURACY > 63)
      {
        ua = 63*ACCURACY;
        SetOutput(OUT_A, RotationCount, 63*ACCURACY);
      }
    if(ua < 0)
      {
        ua = 0;
        ResetRotationCount(OUT_A);
      }
    if(ub/ACCURACY > 99)
      {
        ub = 99*ACCURACY;
        SetOutput(OUT_B, RotationCount, 99*ACCURACY);
      }
    if(ub < 0)
      {
        ub = 0;
        ResetRotationCount(OUT_B);
      }
    PointOut(ub/ACCURACY, ua/ACCURACY);
    ResetRotationCount(OUT_AB);
    if(ButtonCount(BTN4, false) >= 1)
      {
        ClearScreen();
        ResetRotationCount(OUT_AB);
        ButtonCount(BTN4, true);
      }
  }
}