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1 kaklik 1 
#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
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#define FTHRESHOLD 100    // Rozhodovaci uroven dalkoveho sensoru
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#define MLEFT     OUT_C   // Motory
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#define MRIGHT    OUT_A
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#define RSENSOR   SENSOR_1   // Sensory na caru
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#define LSENSOR   SENSOR_3
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#define BUMPER    SENSOR_2   // Dalkovy sensor
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#define L 0  // left
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#define R 1  // right
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#define S 2  // straight
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int movement;     // smer minuleho pohybu
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int line;         // na ktere strane byla detekovana cara
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int dira;         // pocitadlo pro nalezeni preruseni cary
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int derivace;     // jak moc se bude zachovavat predesly smer
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void Straight()   // rovne
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{
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    OnRev(MLEFT);
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    OnFwd(MRIGHT);
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    movement=S;
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}
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void Left()    // doleva
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{
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    Off(MLEFT);
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    OnFwd(MRIGHT);
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    movement=L;
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}
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void Right()   // doprava
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{
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    OnRev(MLEFT);
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    Off(MRIGHT);
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    movement=R;
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}
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task main()
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{
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  PlaySound (SOUND_DOUBLE_BEEP);
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  Wait(100); // 1s
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  SetSensor(RSENSOR,SENSOR_LIGHT);   // senzor na caru modry pravy
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  SetSensor(LSENSOR,SENSOR_LIGHT);   // senzor na caru modry levy
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  // sensor na prekazku
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  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
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  SetTxPower(TX_POWER_HI);    // aby daleko videl
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  movement=S;
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  line=S;
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  dira=0;
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  start cara;
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  start cihla;
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  SetPower (MLEFT,OUT_FULL);
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  SetPower (MRIGHT,OUT_FULL);
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}
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task cara()
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{
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  Straight();
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  while(true)
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  {
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       if (THRESHOLD < RSENSOR)
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       {
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          line=R;
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          dira=0;
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          switch(movement)
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          {
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            case L:
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               Right();
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              break;
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            default:
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              Straight();
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          };
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       }
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       else
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       if (THRESHOLD < LSENSOR)
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       {
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          line=L;
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          dira=0;
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          switch(movement)
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          {
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            case R:
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               Left();
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              break;
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            default:
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              Straight();
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          };
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       }
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       else
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       {
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       if (20 < dira++)
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       {
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         PlaySound (SOUND_FAST_UP);
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         switch(movement)
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         {
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            case L:
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               line=R;
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               Off(MLEFT);     //couvej
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               OnRev(MRIGHT);
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              break;
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            case R:
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               line=L;
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               OnFwd(MLEFT);    // couvej
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               Off(MRIGHT);
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             break;
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         };
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         Wait(50);
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         Straight();
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         Wait(5);
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         dira=0;
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       };
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       switch(line)
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       {
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          case L:
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               Left();
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            break;
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          case R:
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               Right();
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            break;
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         };
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       }
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  } // while(true)
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}
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task cihla() // dalkovy sensor
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{
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  int lastlevel;
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  lastlevel = 0;
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  while(true)
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  {
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    SendMessage(0);
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    if(lastlevel > BUMPER)
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    {
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      PlaySound(SOUND_DOWN);
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      stop cara;
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      Off(MLEFT);           // stop
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      Off(MRIGHT);
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      Wait(5);
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      OnRev(MLEFT);           // do leva
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      OnRev(MRIGHT);
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      Wait(30);
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      Off(MLEFT);           // stop
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      Off(MRIGHT);
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      Wait(5);
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      OnRev(MLEFT);           // rovne
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      OnFwd(MRIGHT);
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      Wait(70);
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      Off(MLEFT);           // stop
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      Off(MRIGHT);
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      Wait(5);
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      OnFwd(MLEFT);           // do prava
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      OnFwd(MRIGHT);
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      Wait(25);
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      Off(MLEFT);           // stop
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      Off(MRIGHT);
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      Wait(5);
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      OnRev(MLEFT);           // rovne
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      OnFwd(MRIGHT);
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      Wait(80);
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      Off(MLEFT);           // stop
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      Off(MRIGHT);
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      Wait(5);
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      OnFwd(MLEFT);           // do prava
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      OnFwd(MRIGHT);
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      Wait(25);
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      Off(MLEFT);           // stop
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      Off(MRIGHT);
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      Wait(5);
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      OnRev(MLEFT);           // rovne
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      OnFwd(MRIGHT);
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      Wait(60);
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      OnRev(MLEFT);           // do leva
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      OnRev(MRIGHT);
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      Wait(20);
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      while(THRESHOLD > RSENSOR); // toc se dokud neni cara
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      Off(MLEFT);           // stop
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      Off(MRIGHT);
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      Wait(30);
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      line=R;
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      start cara;
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    }
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    lastlevel = BUMPER;
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    lastlevel -= FTHRESHOLD;
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  }
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}
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