// APPENDIX
//
// Bricx Command Center 3.3.7.16
//
// Input __________________________________ Outputs ____________________________
//
// S1=left US-Sensor                        OUT_A=Motor
// S2=right US-Sensor
// S3=TouchSensor
//
// CODE:
//______________________________________________________________________________

bool active;
int power;



//______________________________________________________________________________

void move_info(bool right_to_left)
{
    if(right_to_left == true)
    {
      OnRev(OUT_A, power);
    }
    else
    {
      OnFwd(OUT_A, power);
    }
        Wait(800);
            while(1)
            {
                if(SENSOR_3 == true)
                {
                  Off(OUT_A);
                  break;
                }
            }
        Wait(1000);
}



//______________________________________________________________________________

void start_move_info(bool dir)
{
  active = true;
  move_info(dir);
  active = false;
}



//______________________________________________________________________________

task automatic()
{
    while(1)
    {
        repeat(60)
        {
          Wait(1000);
        }
            if(active == false)
            {
              start_move_info(false);
            }
    }
}



//______________________________________________________________________________

task main()
{
  SetSensorLowspeed(S1);
  SetSensorLowspeed(S2);
  SetSensor(S3,SENSOR_TOUCH);
  byte distance = 20;
  power = 60;
  active = false;
  ClearScreen();
  TextOut(30,LCD_LINE3,"APPENDIX");
  TextOut(15,LCD_LINE5,"is running...");
      if(SENSOR_3 == 0)
      {
        move_info(false);
      }
        StartTask(automatic);
            while (true)
            {
                if(SensorUS(S1) < distance)
                {
                  start_move_info(false);
                }
                else
                {
                    if(SensorUS(S2) < distance)
                    {
                      start_move_info(true);
                    }
                }
            }
}