mutex moveMutex;
unsigned int colorArray[];
bool move = false;
task moveTask()
{
 while (true)
 {
   if (move == true) {
     Acquire(moveMutex);
     OnFwd(OUT_AC, 20); Wait(500);
     move = false;
     Release(moveMutex);
   }
 }
}
task display()
{
  while (true)
  {
   ReadSensorColorRaw(IN_4, colorArray);
   NumOut(0, 0, colorArray[0]);
       NumOut(0, 8, colorArray[1]);
       NumOut(0, 16, colorArray[2]);
   if (colorArray[1] > colorArray[0] && colorArray[1] > colorArray[2])
   {
        Acquire(moveMutex);
        move = true;
        Wait(500);
        Release(moveMutex);
   }
  }
}
task main()
{
  Precedes(moveTask, display);
  SetSensorColorFull(IN_4);
}