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1 kaklik 1 
#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
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#define FTHRESHOLD 150    // Rozhodovaci uroven dalkoveho sensoru
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#define RED_WHITE  60     // maximum bile na cervenem senzoru
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#define MLEFT     OUT_C
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#define MRIGHT    OUT_A
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#define RSENSOR   SENSOR_1
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#define LSENSOR   SENSOR_3
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#define BUMPER    SENSOR_2
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#define L 0
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#define R 1
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#define S 2
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int line;
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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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  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na prekazku
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  SetTxPower(TX_POWER_HI);    // aby daleko videl
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//  start cihla;
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//  start cara;
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    SetPower (MLEFT,OUT_HALF);
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    SetPower (MRIGHT,OUT_HALF);
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    OnRev(MLEFT);         // rozjed se vpred
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    OnFwd(MRIGHT);
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    line=S;
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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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    SetPower (MRIGHT,OUT_LOW);
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    OnRev(MLEFT);
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    };
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    if (THRESHOLD < LSENSOR)
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    {
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      line=L;
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    SetPower (MLEFT,OUT_LOW);
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    OnFwd(MRIGHT);
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    };
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    if ((THRESHOLD > LSENSOR)&&(THRESHOLD > RSENSOR))
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    {
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       if(L==line)
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       {
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         Off(MLEFT);
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         OnFwd(MRIGHT);
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         while(THRESHOLD > LSENSOR);
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         while(THRESHOLD < LSENSOR);
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       };
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       if(R==line)
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       {
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         Off(MRIGHT);
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         OnRev(MLEFT);
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         while(THRESHOLD > RSENSOR);
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         while(THRESHOLD < RSENSOR);
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       };
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       line=S;
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       SetPower (MLEFT,OUT_HALF);
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       SetPower (MRIGHT,OUT_HALF);
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       OnRev(MLEFT);         // rozjed se vpred
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       OnFwd(MRIGHT);
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    }
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  }
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}
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task cara()
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{
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  while(true)
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  {
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    OnRev(MLEFT);         // rozjed se vpred
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    OnFwd(MRIGHT);
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    if (THRESHOLD < RSENSOR)
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    {
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       OnRev(MRIGHT);
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       Wait(1);
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       Off(MRIGHT);
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    };
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    if (THRESHOLD < LSENSOR)
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    {
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       OnFwd(MLEFT);
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       Wait(1);
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       Off(MLEFT);
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    };
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    while((THRESHOLD < RSENSOR)||(THRESHOLD < LSENSOR));
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  }
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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_FAST_UP);
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      stop cara;
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      Off(MLEFT);
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      Off(MRIGHT);
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      Wait(100);
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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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