void zmain(void)
{
    //struct accData_ data;
    motor_start();


    //struct sensors_ ref;
    struct sensors_ dig;

    reflectance_start();
    reflectance_set_threshold(10000, 10000, 10000, 10000, 10000, 10000);



  /*  printf("Accelerometer test...\n");

    if(!LSM303D_Start()){
        printf("LSM303D failed to initialize!!! Program is Ending!!!\n");
        vTaskSuspend(NULL);
    }
    else {
        printf("Device Ok...\n");
    }*/

    while(SW1_Read()== 1);

    while(true)
    {
        reflectance_start();
        reflectance_digital(&dig);
        //void reflectance_digital(struct sensors_ *digital);
        motor_forward(255,0);
        int r = rand() % 2;

        //LSM303D_Read_Acc(&data);
        //printf("%8d %8d %8d\n",data.accX, data.accY, data.accZ);
        //vTaskDelay(50);

        /*if(data.accX < -4000){

        motor_backward (100,1000);

            if(r == 0){
            motor_turn(100,50,1000);
            }else{
            motor_turn (50,100,1000);
            }
        } else{

            if(r == 0){
            motor_turn(100,50,1);
            }else{
            motor_turn (50,100,1);
            }

        }
        */
        if (dig.l3 == 1 || dig.l2 == 1 || dig.l1 == 1 || dig.r1 == 1 || dig.r2 == 1 || dig.r3 == 1){
            motor_backward (255,1);

            if(r == 0){
            motor_turn(255,50,200);
            }else{
            motor_turn (50,255,200);
            }
        } /*else{

            if(r == 0){
            motor_turn(255,50,1000);
            }else{
            motor_turn (50,255,1000);
            }


        }*/

    }

 }