//sets the threshold for reaction to light and sound
#define SOUND_THRESHOLD 80
#define MIC SENSOR_2
#define THRESHOLD 48

//task to find the line and stop
task find_line()
{
    while(SENSOR_3 >= THRESHOLD)  //while in the white, go forwards
    {
        OnFwd(OUT_BC, 15);    //Slow speed to stop in middle of line!!!
        Wait(50);
    }

    Off(OUT_BC);            //turn off motors
}

//task to follwot eh track, keeping within the threshold
task follow_track()
{
 until(MIC >= SOUND_THRESHOLD); //does nothing until the mic is activated

       Wait(500);

 while(MIC <= SOUND_THRESHOLD)  //prog can start now the bot has heard a noise
            {
                if (SENSOR_3 <= THRESHOLD)
                      {
                      OnRev(OUT_B, 15);        //conditionals to determine which way the robot should travel to stay within the line
                      OnFwd(OUT_C, 40);
                      }
                      else {
      ac              OnRev(OUT_C, 15);
                      OnFwd(OUT_B, 40);
                      }
            }
            until(MIC >= SOUND_THRESHOLD)  //stops on clap

       //Wait(500);    //wait removed on last test
       Off(OUT_BC);
}

//main task
task main()
{
//configures the sensors to respective ports
SetSensorLight(IN_3);
SetSensorType(IN_3, SENSOR_TYPE_LIGHT_ACTIVE);
SetSensorSound(IN_2);
          //SENSORS ARE SET

//initiaites the programs and the tasks above.
Precedes (find_line, follow_track);

}