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1 kaklik 1 
#define THRESHOLD  44     // rozhodovaci uroven mezi cernou a bilou
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#define RED_WHITE  60     // maximum bile na cervenem senzoru
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#define MLEFT     OUT_A
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#define MRIGHT    OUT_C
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#define BLUE      SENSOR_3
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#define RED       SENSOR_2
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#define BBUMPER   SENSOR_1
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#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
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int semafor;
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task main()
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{
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  PlaySound (SOUND_DOUBLE_BEEP);
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  Wait(500); // 5s podle pravidel
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  SetSensor(BLUE,SENSOR_LIGHT);   // senzor na caru modry
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  SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
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  SetSensor(BBUMPER, SENSOR_TOUCH);  // naraznik modry
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  SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
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  SetPower (MLEFT,OUT_FULL);
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  SetPower (MRIGHT,OUT_FULL);
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  SetDirection(MLEFT, OUT_FWD);
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  SetDirection(MRIGHT, OUT_FWD);
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  SetTxPower(TX_POWER_HI);    // aby daleko videl
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  OnFwd (MLEFT);         // cuknuti na shozeni radlic
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  OnFwd (MRIGHT);
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  Wait(20);
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  OnRev (MLEFT);
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  OnRev (MRIGHT);
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  Wait(70);
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  Off(MLEFT);
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  Off(MRIGHT);
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  Wait(20);  // pockej na ustaleni narazniku
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  // rozjed tasky
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  start blue_bumper;
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  start cervena;
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  start cara_modra;
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  start stochastika;
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}
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task stochastika()        // nahodne otaceni
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{
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  while(true) Zatoc();
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}
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void GoBlue()       // pojezd ve smeru modreho senzoru
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{
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  OnFwd (MLEFT);
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  OnFwd (MRIGHT);
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  Wait(300);              // popojed kus
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  Off(MLEFT);
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  Off(MRIGHT);
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}
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void GoRed()         // pojezd ve smeru cerveneho senzoru
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{
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  OnRev (MLEFT);
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  OnRev (MRIGHT);
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  Wait(300);              // popojed kus
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  Off(MLEFT);
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  Off(MRIGHT);
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}
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void Obrat()         // obrat o 180 stupnu
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{
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  OnRev (MLEFT);
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  OnFwd (MRIGHT);
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  Wait(125);              // popojed kus
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  Off(MLEFT);
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  Off(MRIGHT);
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}
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void Zatoc()  // nahodne zatoceni, nebo popojeti
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{
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  switch (Random(1))
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  {
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    case 0:
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     OnRev (MLEFT);
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     OnFwd (MRIGHT);
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     Wait(50);
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     break;
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    case 1:
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     OnFwd (MLEFT);
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     OnRev (MRIGHT);
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     Wait(50);
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     break;
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    case 2:
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     OnRev (MLEFT);
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     OnRev (MRIGHT);
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     Wait(70);
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     break;
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    case 3:
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     OnFwd (MLEFT);
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     OnFwd (MRIGHT);
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     Wait(70);
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     break;
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  }
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}
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task blue_bumper() // naraznik na modre strane
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{
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  while(true)
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  {
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    if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
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    {
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      stop stochastika;
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      PlaySound (SOUND_FAST_UP);
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      OnFwd (MLEFT);
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      OnFwd (MRIGHT);
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      Wait(50);
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    }
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  }
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}
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task cervena() // 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 > SENSOR_2)
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    {
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      PlaySound(SOUND_FAST_UP);
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      stop stochastika;
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      OnRev (MLEFT);
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      OnRev (MRIGHT);
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      Wait(10);              // popojed kus
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      Off(MLEFT);
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      Off(MRIGHT);
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      Obrat();
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      GoBlue();
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      start stochastika;
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    }
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    lastlevel = SENSOR_2;
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    lastlevel -= THRESHOLD;
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  }
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}
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task cara_modra()    // hlidani cary
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{
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  while(true)
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  {
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     if (BLUE < THRESHOLD)    // cekej na caru
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     {
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        PlaySound (SOUND_DOUBLE_BEEP);
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        stop blue_bumper;
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        stop stochastika;
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        stop cervena;
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        GoRed();
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        start cervena;
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        start blue_bumper;
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        start stochastika;
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     }
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  }
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}
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