task main

SetSensorLight(IN_2);
SetSensorTouch(IN_1);
SetSensorTouch(IN_3);

task navigate

void fork_lift

setup();

WHITE = EYE;
PlaySound(SOUND_UP);
Wait(2000);
PlaySound(SOUND_DOUBLE_BEEP);
Wait(2000);

Start task navigate

fork_lift();

End void fork_lift

while (true)

while (true)

true

true

OnRev(OUT_AC, 73);
Wait (Random(3200));
OnFwd(OUT_C, 63);
Wait (Random (1500));
OnFwd (OUT_AC,73);
Wait (Random(3200));
OnRev(OUT_A, 63);
Wait(Random (1500));

false

false

Get EYE value

false

EYE >= WHITE?

true

False

EYE<GREENMAX and
EYE > GREENMIN?

true

false

SENSOR_1 == 1?

true

End task navigate

Sto pTask(navigate);
PlaySou nd(SOUND_DOUBLE_BEEP);
OnFwdSyn c(OUT_AC, 50, 0);

false

SENSOR_3==1?

true
PlaySou nd(SOUND_UP);
Off(OUT_AC);
Wait(1000);
Ro tateMoto r(OUT_B, 23, -135);
Wait(100);
RotateMotor(OUT_B, 43, 135);
StartTas k(navigate);

StopTask(navigate);
PlayTone(1000, 40);
OnFwdSync(OUT_AC, 80, 0);
Wait(200);
OnRevSync(OUT_AC, 80, 0);
Wait(200);
OnFwdSync(OUT_AC, 80, 0);
Wait(500);
StartTask(navigate);

StopTask(navigate);
PlayTone(1000,1000);
OnFwd(OUT_AC, 50);
Wait(1000);
OnFwd(OUT_A, 50);
Wait(600);
StartTask(navigate);