Line Follower - RobotC

#pragma config(Sensor, S1,     sSol,           sensorLightActive)
#pragma config(Sensor, S2,     sOrta,          sensorLightActive)
#pragma config(Sensor, S3,     sSag,           sensorLightActive)
#pragma config(Motor,  motorB,          mSol,          tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorC,          mSag,          tmotorNXT, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
    S1 Sol Sensor
    S2 Orta Sensor
    S3 Sag Sensor

    MB Sol
    MC Sag
*/

short hizT = 70, hizO = 2, durum[2] = {0 ,0};

void rIleri(){
    motor[mSag] = hizT;
    motor[mSol] = hizT;
}

void rGeri(){
    motor[mSag] = -hizT;
    motor[mSol] = -hizT;
}

void rSaga(){
    switch(durum[1]){
        case 1:
            motor[mSol] = (hizT / hizO);
            motor[mSag] = -(hizT / hizO);
            break;
        case 2:
            motor[mSol] = hizT;
            motor[mSag] = -hizT;
            break;
    }
}

void rSola(){
    switch(durum[1]){
        case 1:
            motor[mSol] = -(hizT / hizO);
            motor[mSag] = (hizT / hizO);
            break;
        case 2:
            motor[mSol] = -hizT;
            motor[mSag] = hizT;
            break;
    }
}

task main(){
    sleep(1500);

    short c[3] = {0, 0, 0};
    short isik[3] = {SensorValue[sSol], SensorValue[sOrta], SensorValue[sSag]};
    short oran = (isik[0] + isik[2]) / 2;

    while(1){
        isik[0] = SensorValue[sSol];
        isik[1] = SensorValue[sOrta];
        isik[2] = SensorValue[sSag];

        for(short i = 0; i < 3; i++){
            if(isik[i] < (oran - 5)){
                c[i] = 1;
            }
            else{
                c[i] = 0;
            }
        }

        //++Ileri++//
        if((c[0] && !c[1] && c[2]) || (!c[0] && c[1] && !c[2])){
            durum[0] = 3;
            durum[1] = 0;
            rIleri();
        }

        //++Saga++//
        else if(!c[0] && !c[1] && c[2]){ //saga dik
            durum[0] = 1;
            durum[1] = 1;
            rSaga();
        }
        else if(!c[0] && c[1] && c[2]){ //saga normal
            durum[0] = 1;
            durum[1] = 2;
            rSaga();
        }

        //++Sola++//
        else if(c[0] && !c[1] && !c[2]){ //sola dik
            durum[0] = 1;
            durum[1] = 1;
            rSola();
        }
        else if(c[0] && c[1] && !c[2]){ //sola normal
            durum[0] = 1;
            durum[1] = 2;
            rSola();
        }

        nxtDisplayTextLine(1, "Izmir Ataturk Lisesi");
        nxtDisplayTextLine(2, "Robotics Team - 2013");
        nxtDisplayTextLine(3, "Oran: %d", oran);
        nxtDisplayTextLine(4, "Sol: %d, %d", c[0], isik[0]);
        nxtDisplayTextLine(5, "Orta: %d, %d", c[1], isik[1]);
        nxtDisplayTextLine(6, "Sag: %d, %d", c[2], isik[2]);
        nxtDisplayTextLine(7, "Durum: %d, %d", durum[0], durum[1]);
        nxtDisplayTextLine(8, "Hiz: &d, %d", hizT, (hizT/hizO));
    }
}