#pragma config(Sensor, S1,     Druck,          sensorEV3_Touch)
#pragma config(Sensor, S2,     Gyro,           sensorEV3_Gyro)
#pragma config(Sensor, S3,     Farbe,          sensorEV3_Color)
#pragma config(Sensor, S4,     Ultraschall,    sensorEV3_Ultrasonic)
#pragma config(Motor,  motorA,          armMotor,      tmotorEV3_Medium, PIDControl, encoder)
#pragma config(Motor,  motorB,          leftMotor,     tmotorEV3_Large, PIDControl, driveLeft, encoder)
#pragma config(Motor,  motorC,          rightMotor,    tmotorEV3_Large, PIDControl, driveRight, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
  int iGrad = 0;
	int iHelligkeit = 0;

	while (true) {
		iHelligkeit = getColorReflected(S3);
		if (iHelligkeit < 45) {
			setMotorSpeed(motorB, 30);
			setMotorSpeed(motorC, 30);
		} else {
			resetGyro(S2);
			iGrad = getGyroDegrees(S2);
			while ((iGrad > (-90)) && iHelligkeit > 45) {
				setMotorSpeed(motorB, 10);
				setMotorSpeed(motorC, 0);
				iHelligkeit = getColorReflected(S3);
				iGrad = getGyroDegrees(S2);
			}
			while (iGrad < 90 && iHelligkeit > 45) {
				setMotorSpeed(motorB, 0);
				setMotorSpeed(motorC, 10);
				iHelligkeit = getColorReflected(S3);
				iGrad = getGyroDegrees(S2);
			}
		}
	}
}