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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_1
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#define RED       SENSOR_2
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#define BBUMPER   SENSOR_3
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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_LIGHT);   // 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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//  k_care();
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  OnFwd (MLEFT);                  // dojezd k care
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  OnFwd (MRIGHT);                  // dojezd k care
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  Wait(50);
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  GoRed();
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  start red_bumper;
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  start blue_bumper;
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  start cara_cervena;
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  start cara_modra;
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  semafor = false;
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  ClearTimer (0);
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  start stochastika;
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}
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task stochastika()
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{
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   while (true)
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   {
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     Wait(500);
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     if (semafor) start blue_bumper;
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     PlaySound (SOUND_CLICK);
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     OnFwd (MLEFT);                  // dojezd k care
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     OnFwd (MRIGHT);                 // dojezd k care
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     while (BLUE > THRESHOLD);
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     GoRed();
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     OnRev (MLEFT);
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     OnRev (MRIGHT);
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     Wait(100);              // popojed kus
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     Zatoc();
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     ClearTimer (0);
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   }
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}
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void GoBlue()
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{
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  OnFwd (MLEFT);
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  OnFwd (MRIGHT);
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  Wait(100);              // popojed kus
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  Off(MLEFT);
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  Off(MRIGHT);
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}
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void GoRed()
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{
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  OnRev (MLEFT);
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  OnRev (MRIGHT);
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  Wait(100);              // popojed kus
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  Off(MLEFT);
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  Off(MRIGHT);
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}
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void Zatoc()
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{
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  switch (Random(2))
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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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     break;
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    case 1:
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     OnFwd (MLEFT);
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     OnRev (MRIGHT);
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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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  }
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  Wait(100);              // popojed kus
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  Off(MLEFT);
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  Off(MRIGHT);
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}
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void k_care()  // najed do vyckavaci pozice
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{
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  OnFwd (MLEFT);                  // dojezd k care
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  OnFwd (MRIGHT);                  // dojezd k care
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  while (BLUE > THRESHOLD);
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  GoRed();
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  OnRev (MLEFT);
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  OnRev (MRIGHT);
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  Wait(100);              // popojed kus
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  Off(MLEFT);
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  Off(MRIGHT);
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}
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task red_bumper()
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{
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  while(true)
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  {
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    while (100 != RED); // utoc, kdyz neco narazi do narazniku
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    PlaySound (SOUND_FAST_UP);
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    stop stochastika;
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    GoRed();
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//!!!    Zatoc();
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    start stochastika;
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    if (semafor) start blue_bumper;
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  }
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}
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task blue_bumper()
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{
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    semafor = false;
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    while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku
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    PlaySound (SOUND_FAST_UP);
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    OnFwd (MLEFT);
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    OnFwd (MRIGHT);
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    semafor = true;
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}
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task cara_cervena() // hlidani natlaceni na caru
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{
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  while(true)
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  {
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    while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care
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    Wait(2);        // kontrola za 20ms, aby se to nespletlo s naraznikem
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    if (RED > THRESHOLD && RED < RED_WHITE)
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    {
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      PlaySound (SOUND_DOUBLE_BEEP);
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      GoBlue();
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    }
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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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     while (BLUE > THRESHOLD);    // cekej na caru
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     stop cara_cervena;
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     PlaySound (SOUND_DOUBLE_BEEP);
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     GoRed();
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     if (semafor) start blue_bumper;
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     start cara_cervena;
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  }
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}
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