/*
  Due to varying lighting conditions, the light reflected by the edge
  of the line may vary.  This sub will attempt to find the min and max
  values of the sensor as it rotates back and forth over the line.
 */
void autoCalibrate () {
   int _currValue = 0;
  nSyncedMotors = synchNone;
//  nMotorEncoder[motorB] = 0;
//  nMotorEncoder[motorC] = 0;

  _currValue = centerValue;
  sensorMax = _currValue;
  sensorMin = _currValue;
  pivotLeft();
  while (eHeading != 340) {
     _currValue = centerValue;
     if (_currValue > sensorMax)
       sensorMax = _currValue;
     if (_currValue < sensorMin)
       sensorMin = _currValue;
  }
  stopRobot();
  pivotRight();
  while (eHeading != 20) {
     _currValue = centerValue;
     if (_currValue > sensorMax)
       sensorMax = _currValue;
     if (_currValue < sensorMin)
       sensorMin = _currValue;
  }
  stopRobot();
  pivotLeft();
  while (eHeading != 0);
  stopRobot();
  threshold = (sensorMax + sensorMin) / 2;
  PlaySound(soundFastUpwardTones);
}

#pragma platform(FTC)

task main()
{
  int i;

  for (i = 0; i <= 256; i += 16)
  {
    FTCServo[servo1] = i;
    nxtDisplayTextLine(3, "Servo: %d", i);
    wait1Msec(50);
  }
}