#include "NXCDefs.h"


#define Tmax 60000
#define LightSensor S3
#define USSensor S4


int a=0;
int LoopCount=0;
long Timeout;
int light;
int dist;
int rot;
int rnd;
int val;


task main ()
{
  SetSensorLight (LightSensor);
  SetSensorLowspeed (USSensor);


  Timeout = CurrentTick() + Tmax;
  while(CurrentTick() < Timeout)
  {
    light = Sensor(LightSensor);
    dist = SensorUS(USSensor);
    rot = MotorRotationCount (OUT_B);
    NumOut (10, LCD_LINE1, rot);
    rnd = Random (100)+1;
    val = ((light + dist + rot)*100)/rnd;
    NumOut (10, LCD_LINE2, val);
    OnFwd (OUT_BC, rnd);
    if(rnd < 50) a++;
    if(rnd > 50) a--;
    NumOut (10, LCD_LINE3, a);
    OnFwd (OUT_A, a);
    NumOut (10, LCD_LINE4, LoopCount);
    LoopCount++;
  }
  Off(OUT_ABC);
  Wait(10000);
}