#pragma config(Sensor, S4,     Colour,         sensorEV3_Color, modeEV3Color_Ambient)
#pragma config(Motor,  motorB,          motorLeft,     tmotorEV3_Large, PIDControl, encoder)
#pragma config(Motor,  motorC,          motorRight,    tmotorEV3_Large, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
Colour sensor modes
0 - modeEV3Color_Reflected
1 - modeEV3Color_Ambient
2 - modeEV3Color_Color
3 - modeEV3Color_Reflected_Raw
4 - modeEV3Color_RGB_Raw
5 - modeEV3Color_Calibration - Not utilized
*/

task main()
{
	while (true)
	{
		// Write the amount of reflected light to the screen
	  // This is a value between 0 and 100, where 0 means no reflected
	  // light and 100 means all light is being reflected
		displayBigTextLine(4, "Reflected: %d", SensorValue[Colour]);

		if(SensorValue[Colour] < 20)
		{
			motor[motorLeft] = 20;
			motor[motorRight] = 20;
		}
		else
		{
			motor[motorLeft] = -50;
			motor[motorRight] = 50;
			sleep(750);
			motor[motorLeft] =  100;
			motor[motorRight] = 100;
			sleep(1000);
		}

		// Wait 20 ms to get 50 readings per second
		sleep(20);
	}
}