LineFollowerRobotC

#pragma config(Sensor, in1,    left,           sensorLineFollower)
#pragma config(Sensor, in2,    middle,         sensorLineFollower)
#pragma config(Sensor, in3,    right,          sensorLineFollower)
#pragma config(Motor,  port1,           backleft,      tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor,  port2,           backright,     tmotorServoContinuousRotation, openLoop)
#pragma config(Motor,  port3,           frontleft,     tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor,  port4,           frontright,    tmotorServoContinuousRotation, openLoop)
task main(){
    /*
    @ConnorSiebens
    */
int speed=25,turnspeed=35,sensor=600,oppturn=-35;
    while(true){
        if (SensorValue[middle]>sensor){
            motor[backleft] = speed;
            motor[backright] = speed;
            motor[frontleft] = speed;
            motor[frontright] = speed;
        }else{
        if (SensorValue[left]<sensor&&SensorValue[middle]<sensor&&SensorValue[right]>sensor){
            motor[backleft] = turnspeed;
            motor[backright] = oppturn;
            motor[frontleft] = turnspeed;
            motor[frontright] = oppturn;
        }
        if (SensorValue[right]<sensor&&SensorValue[middle]<sensor&&SensorValue[left]>sensor){
            motor[backright] = turnspeed;
            motor[backleft] = oppturn;
            motor[frontright] = turnspeed;
            motor[frontleft] = oppturn;
        }

        if (SensorValue[middle]<sensor&&SensorValue[right]<sensor&&SensorValue[left]<sensor){
            motor[backleft] = 0;
            motor[backright] = speed;
            motor[frontleft] = 0;
            motor[frontright] = speed;
            wait1Msec(400);
            while(SensorValue[middle]<sensor&&SensorValue[right]<sensor&&SensorValue[left]<sensor){
                motor[backleft] = -speed;
                motor[backright] = -speed;
                motor[frontleft] = -speed;
                motor[frontright] = -speed;
                }
            }
        }
    }
}