#pragma config(Motor,  motorB,          rightMotor,         tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorC,          leftMotor,          tmotorNormal, PIDControl, encoder)


task main()
{
   char mapa[6][6] = {
  {'D','R','R','R','R','D'},
  {'D','U',' ',' ',' ','D'},
  {'R','U',' ',' ',' ','D'},
  {' ',' ',' ',' ',' ','D'},
  {' ',' ',' ',' ',' ','D'},
  {' ',' ',' ','X','L','L'}
  };
  int x=0;
  int y=0;
  while(true){
    if(mapa[x][y]=='D'){
      motor[motorB]=0;
      motor[motorC]=0;
      wait1Msec(2000);
      motor[motorB]=50;
      motor[motorC]=50;
      wait1Msec(2000);
      x++;
    }
    else if(mapa[x][y]=='R'){
      motor[motorB]=0;
      motor[motorC]=0;
      wait1Msec(2000);
      motor[motorB]=-30;
      motor[motorC]=30;
      wait1Msec(1550);
      y++;}
     else if(mapa[x][y]=='U'){
      motor[motorB]=0;
      motor[motorC]=0;
      wait1Msec(2000);
      motor[motorB]=50;
      motor[motorC]=50;
      wait1Msec(2000);
      x--;}
      else if(mapa[x][y]=='L'){
      motor[motorB]=0;
      motor[motorC]=0;
      wait1Msec(2000);
      motor[motorB]=30;
      motor[motorC]=0;
      wait1Msec(1550);
      y--;}
      else if(mapa[x][y]=='X'){
      break;}

  }
}