program Cholerik;

var i, last;

LMOT:=30;
RMOT:=20;

while true
do

#last:= RRTOUCH & RFTOUCH & LRTOUCH & LFTOUCH;

  if LEYE = 0 then
    LMOT:=-30;
    RMOT:=-30;
    i:=TIME;
    while TIME < (i+0.5) 
    do end;
    LMOT:=-30;
    RMOT:=30;
    i:=TIME;
    while TIME < (i+1)
    do
      if CEYE = 0 then 
        break;
      end;
    end;
    LMOT:=30;
    RMOT:=30;
  end;

  if REYE = 0 then
    LMOT:=-30;
    RMOT:=-30;
    while TIME < (i+0.5)
    do end;
    LMOT:=30;
    RMOT:=-30;
    i:=TIME;
    while TIME < (i+1)
    do 
      if CEYE = 0 then 
        break;
      end;
    end;
    LMOT:=30;
    RMOT:=30;
  end;

  if CEYE = 0 then
    RMOT:=-30;
    LMOT:=-30;
    i:=TIME;
    while TIME < (i+1)
    do end;
    RMOT:=30;
    LMOT:=-30;
    i:=TIME;
    while TIME < (i+1)
    do
      if RRADAR>0 or LRADAR>0 then 
      break;
    end;
    RMOT:=30;
    LMOT:=30;
  end;

  if RFTOUCH = 1 then
    RMOT:=-30;
    LMOT:=30;
    i:=TIME;
    while TIME < (i+1)
    do 
      if CEYE = 0 then 
        break;
      end;
    end;    
    RMOT:=30;
    LMOT:=0;
    i:=TIME;
    while TIME < (i+1)
    do
      if CEYE = 0 or RRADAR>0 or LRADAR>0 then 
        break;
      end;
    end;    
    RMOT:=30;
    LMOT:=30;
  end;

  if LFTOUCH = 1 then
    RMOT:=30;
    LMOT:=-30;
    i:=TIME;
    while TIME < (i+0.5)
    do 
      if CEYE = 0 then 
        break;
      end;
    end;    
    RMOT:=0;
    LMOT:=30;
    i:=TIME;
    while TIME < (i+0.5)
    do 
      if CEYE = 0 or RRADAR>0 or LRADAR>0 then 
        break;
      end;
    end;    
    RMOT:=30;
    LMOT:=30;
  end;
  
  if RRTOUCH = 1 or LRTOUCH = 1 then
    RMOT:=30;
    LMOT:=-30;
  end;
end;
end;