#define odlegloscOdPrzeszkody 25
#define kraniecRingu 6
#define iloscObrotowDoPelnegoObrotu 27

task main()
{
 SetSensorColorFull(IN_2);
 SetSensorLowspeed(IN_4);
 unsigned int rawData[], normData[];
 int scaledData[];
 int cval;
 long t0, time;
 int rotations = 0;

 while (true) {
   if(SensorUS(IN_4)<odlegloscOdPrzeszkody && SensorUS(IN_4)>0){
     t0 = CurrentTick();
     while(true){
       ReadSensorColorEx(IN_2, cval, rawData, normData, scaledData);
       if (cval == kraniecRingu) {
         time = CurrentTick()-t0;
         OnFwd(OUT_AC, 75); Wait(time);
         Off(OUT_AC); Wait(100);
         t0 = CurrentTick();
         break;
       } else {
         OnRev(OUT_AC, 75); Wait(50);
       }
     }
   }
   else {
     if(rotations<iloscObrotowDoPelnegoObrotu){
       OnRev(OUT_A,60);
       OnFwd(OUT_C,60);Wait(150);
       Off(OUT_AC);Wait(100);
       rotations+=1;
     } else {
      break;
     }
   }
 }
}