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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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  OnFwd (MLEFT);         // cuknuti na shozeni radlic
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  OnFwd (MRIGHT);
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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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  start stochastika;
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}
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task stochastika()
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{
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  while(true) Zatoc();
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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(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()
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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 Zatoc()
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{
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  switch (Random(3))
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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(200);
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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(200);
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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(20);
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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(20);
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     break;
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  }
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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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    if (100 == RED) // utoc, kdyz neco narazi do narazniku
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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(50);
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    }
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  }
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}
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task blue_bumper()
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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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      PlaySound (SOUND_FAST_UP);
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      stop stochastika;
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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 cara_cervena() // hlidani natlaceni na caru
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{
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  while(true)
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  {
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    if ((RED > THRESHOLD) && (RED < RED_WHITE))
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    {
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      Wait(2);
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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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        stop red_bumper;
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        GoBlue();
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        start red_bumper;
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        start stochastika;
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      }
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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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     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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        GoRed();
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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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