It's been a while since i last used RobotC and I forgot pretty much everything.

What I need is a program that does this:

if Ultrasonic_1 < 22 cm then;
wait 8 sec;
end_if;

if Ultrasonic_2 < 22 cm in between the 8 sec then;
reset program;

else;
motor_1 := speed=100, coast, 6 rotations, forwards
wait for bumped touch sensor
motor_1 := speed=100, coast, 6 rotations, backwards
motor_2 := speed=100, coast, 6,7 rotations, forwards
wait 4 sec
motor_2 := speed=100, coast, 6,7 rotations, backwards

end_if;


I have tried in NXT-G, but I can't figure out this simple sequence. What bothers me is this part: if Ultrasonic_2 < 22 cm in between the 8 sec.

Can I get any help please?

Never mind, I solved the problem in NXT-G. I found this count-function as a start: http://www.brickshelf.com/gallery/brdav ... resses.png

I made my own additions so it now looks like this.

- I added the C-motor to see if the program ended where I wanted it to.
- The two "Logic 1" blocks at the end of the top loop writes "false"
- To make the count function work with the ultrasonic sensor, I added a "wait for Sensor > 22 cm"
- The loop for the count-function is 6 seconds.
- The "Greater than or equal" block says that "number 1" should be greater than 0.

It works perfectly. I tested it multiple times.
Would be awesome seeing it in RobotC though to get the language refreshed

Perhaps I should mention what I need to have done.

Imagine a transport belt and a visio camera. The belt drives a bottle into a chamber were it gets registered by the camera. If the bottle is broken or in any other way damaged, the belt will drive the bottle out of the chamber the way it came.

There's a sonic sensor sitting at the entrance of the chamber registering bottles. After 8 seconds, the bottle should either have stayed in the chamber or not. If the bottle stays in the chamber, a couple of motors will control the doors to the chamber. If not, nothing will happen and the program starts from the beginning once again.