RobotC

#pragma config(Sensor, S1,     ochidreapta,    sensorEV3_IRSensor)
#pragma config(Sensor, S2,     ochistanga,     sensorEV3_IRSensor)
#pragma config(Sensor, S3,     culoaredreapta, sensorEV3_Color)
#pragma config(Sensor, S4,     culoaredreapta, sensorEV3_Color)
#pragma config(Motor,  motorA,          arma,          tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorB,          stanga,        tmotorEV3_Large, PIDControl, reversed, encoder)
#pragma config(Motor,  motorC,          dreapta,       tmotorEV3_Large, PIDControl, reversed, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
    motor[motorB]=0;
    motor[motorC]=0;
    wait1Msec(4500);
    motor[motorB]=90;
    motor[motorC]=90;
    wait1Msec(450);
    motor[motorA]=100;

    while(true)
    {
        while(SensorValue(S1)<=15 && SensorValue(S2)<=15){
        if(SensorValue(S1)<35 && SensorValue(S2)>35) //dreapta vede si stanga nu
        {
            motor[motorB]=100;
            motor[motorC]=0;
        }
        if(SensorValue(S2)>35 && SensorValue(S1)<35)//stanga vede si dreapta nu
        {
            motor[motorB]=0;
            motor[motorC]=100;
        }
        if(SensorValue(S1)<35 && SensorValue(S2)<35)
        {
            motor[motorB]=100;
            motor[motorC]=100;
        }
        if(SensorValue(S1)>35&& SensorValue(S2)>35)
        {
            motor[motorB]=45;
            motor[motorC]=-45;
        }

        if(SensorValue(S1)<35||(S2)<35)
            {
                motor[motorB]=100;
                motor[motorC]=100;
            }
    }
}
                  while(SensorValue(S3)>15||SensorValue(S4)>15)//daca sensorii de culoare vad alb
        {
             if(SensorValue(S3)<=15)//stanga nu vede dar dreapta da
             {
                motor[motorB]=-50;
                        motor[motorC]=-100;
                        wait1Msec(900);
                        motor[motorB]=-80;
                        motor[motorC]=100;
                        wait1Msec(500);

             }
             else if(SensorValue(S4)<=15)//dreapta nu dar stanga da
             {
               motor[motorB]=-100;
               motor[motorC]=-50;
               wait1Msec(900);
               motor[motorB]=100;
               motor[motorC]=-80;
               wait1Msec(500);

             }
             else if(SensorValue(S3)>=10&&SensorValue(S4)>=10)// ambii vad
             {
               motor[motorB]=-100;
               motor[motorC]=-100;
               wait1Msec(800);}


            }
            }