#pragma config(Sensor, S2, HTEOPD,  sensorAnalogActive)
#pragma config(Sensor, S4,     touchSensor1,   sensorTouch)

#include "drivers/HTEOPD-driver.h"

task main()
{
   int x = 0;
   SetSensorType(S2, sensorLightActive);
   wait1Msec(100);
   SetSensorMode(S2, modeRaw);
   wait1Msec(100);

  while(true)
    {
      eraseDisplay();
      x = SensorRaw[S2];
      nxtDisplayTextLine(0, "%4d", x);
      wait1Msec(100);
     
      if(SensorValue(HTEOPD) > 45)
      {
       PlaySound(soundBeepBeep); //Just for fun and testing
      wait1Msec(200);
 
      int my_number = 23;

      sendMessage(my_number);
      }
   
    if (SensorValue(touchSensor1) == 1)
    {
      int my_number2 = 70;
      wait1Msec(3000);
      my_number2 = 70;
      sendMessage(my_number2);
    }
    }
}

#pragma config(Hubs,  S1, HTMotor,  HTServo,  none,     none)
#pragma config(Motor,  mtr_S1_C1_1,     motorD, tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     motorE, tmotorNormal, openLoop)



task DriveForward();

task DriveForward()
{
   motor[motorD] = 65;
   motor[motorE] = 65;
   wait1Msec(1000);
}


task main()
{
  int my_message;
  int my_message2;
 
  while(true)
   {
    //Read the message to variable
      my_message = message;
      my_message2 = message;
     
      if(my_message != 0) //Let's say something got through if the signal is not zero
      {
          nxtDisplayTextLine(2,"1: %d",my_message); //Display the value as stored in the variable
          ClearMessage(); //Clear
      }
           
      wait1Msec(500); //Checking for a message every half a second is

      if(my_message2 != 0)
      {
        StartTask(DriveForward);
        nxtDisplayTextLine(4,"2: %d",my_message2); //Display the value as stored in the variable
        ClearMessage(); //Clear   
       
      } 
    } 
}

if(my_message2 != 0)
      {
        StartTask(DriveForward);
        wait1Msec(500);
StopTask(DriveForward);
        nxtDisplayTextLine(4,"2: %d",my_message2); //Display the value as stored in the variable
        ClearMessage(); //Clear   
       
      } 

task DriveForward()
{
motor[motorD] = 65;
motor[motorE] = 65;
wait1Msec(1000);
motor[motorD] = 0;
motor[motorE] = 0;
}

      if(SensorValue(HTEOPD) > 45)
      {
       PlaySound(soundBeepBeep); //Just for fun and testing
      wait1Msec(200);

      int my_number = 23;

      sendMessage(my_number);
      wait1Msec(10000);    //  stop sending with time
      }