#pragma config(Sensor, S1,     color,          sensorCOLORRED)
#pragma config(Sensor, S2,     touch,          sensorTouch)
#pragma config(Sensor, S4,     sonar,          sensorSONAR)
#pragma config(Motor,  motorA,          ma,            tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorB,          mb,            tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorC,          mc,            tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
// Calibration values, these may be different for you
const int blackValue = 220;
const int whiteValue = 580;
int index = 0;
char arr[50];



void path(char a)
{
  if(index==50)
    index=0;
arr[index++]=a;
//for(int i = index-1; i < sizeof(arr); i++){
    if(arr[index-1] == 'b'){
      //to delete 'b', and move everything over:
      index--;
      //for(int j = i; j < (sizeof(arr) - 1); j++){
       arr[index] = '0';



     //}
     }
 //}
nxtDisplayTextLine(6, "Raw: %3d, %3d", index, a);



}

// Normalise a raw value, returns a value from 0 to 100
int normaliseReading(int rawValue)
{
  // Anything less than the black value should return 0
  if (rawValue <= blackValue)
    return 0;

  // Anything brighter than the white value should return 100
  else if (rawValue >= whiteValue)
    return 100;

  // Anything else should be calculated in a scale from 0-100%
  else
    return ((long)(rawValue - blackValue) * 100) / (whiteValue - blackValue);
}
task main()
{
  int rawValue = 0;
  int normalisedValue = 0;

  while (true)

{

 while(SensorValue(touch) == 0)   //a while loop is declared with the touchsensor's value being 0 as it true condition
{
    // Get the raw value from the sensor.
    rawValue = SensorRaw[color];

    // Calculate the normalised value
    normalisedValue = normaliseReading(rawValue);

    nxtDisplayTextLine(4, "Raw: %3d", rawValue);
    nxtDisplayTextLine(5, "Norm: %3d", normalisedValue);
    wait1Msec(100);
    rawValue = SensorRaw[color];
    if (rawValue>=300)
{
    if((SensorValue(sonar)>15)&&((SensorValue(sonar)<18)))
{
  motor[mc]=30;
  motor[mb]=60;
  SensorValue(color);
  SensorValue(sonar);
}
else if(SensorValue(sonar)<11)
{
  motor[mc]=60;
  motor[mb]=30;
  SensorValue(color);
  SensorValue(sonar);
}

}
   else if (rawValue<300)
{
  motor[mc]=60;
  motor[mb]=60;
  path('s');
  SensorValue(color);
  SensorValue(sonar);
  if(SensorValue(sonar)>18)
{
    motor[mc]=0;
    motor[mb]=60;
    wait1Msec(500);
    path('l');

    SensorValue(color);
    SensorValue(sonar);
}
}
}
   motor[mb] = -60;                   //motor A is run at a -75 power level
   motor[mc] = -60;
   wait1Msec(1000);
   motor[mb] = +60;                   //motor A is run at a -75 power level
   motor[mc] = -60;         //motor B is run at a -75 power level
   wait1Msec(1000);                       //the program waits 1000 milliseconds before running further code
   path('b');

}
}