int thresh= 100000;
int distance = 0;

sub checkdistance()
{
 if(SensorUS(IN_1) < thresh)
                   {
                     thresh = SensorUS(IN_1);
                     distance = MotorRotationCount(OUT_A);
                   }
 }


task main ()
{
 SetSensorLowspeed(IN_1);
 SetSensorTouch(IN_3);
 repeat(144)
 {
 RotateMotorEx(OUT_A, 70, 10, 0, false, false);
 Wait(50);
 checkdistance();
 }
   RotateMotorEx(OUT_A, 40, distance, 0, false, true);
   Wait(100);
   while(SENSOR_3 == 0)
   {
    OnFwdSync(OUT_AC, 75, 0);
    }
    Off(OUT_AC);
}