program example_program;

var i;
var ble;
var last;

LMOT := 30;
RMOT := -30;

ble:=0;
while ble<25 do ble:=ble+1; end;	

LMOT := 30;
RMOT := 30;

ble:=0;
while ble<125 do ble:=ble+1; end;	

while true
do
	if LEYE = 1 and REYE = 1 and RFTOUCH = 0 and LFTOUCH = 0 and RRTOUCH = 0 and LRTOUCH = 0 then
		if last=1 then	
		 RMOT := 30;
		 LMOT := -30;
		else
		 LMOT := 30;
		 RMOT := -30;
		end;
	end;

	if LEYE = 0 then
		LMOT := -30;
		RMOT := -30;
		continue;
	end;
	if REYE = 0 then
		RMOT := -30;
		LMOT := 30;
		continue;
	end;
	if LRTOUCH = 1 then
		RMOT := -30;
		LMOT := -30;
		last := 1;
	end;
	if RRTOUCH = 1 then
		LMOT :=-30;
		RMOT :=-30;
		last := 0;
	end;

	if RFTOUCH = 1 and LFTOUCH =1 then
		LMOT :=30;
		RMOT := 30;
	end;
	
	if RRTOUCH = 1 and LRTOUCH =1 then
		LMOT := -30;
		RMOT := -30;
	end;


end;