#pragma config(Sensor, S4,     sonarSensor,         sensorSONAR)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/* Deklarationen */

int int_sonorval = 0;

/* Task zur Ermittlung des vom Sonar gemessenen Wertes */
task SonorChk()
{
  int_sonorval = SensorValue[sonarSensor];
  eraseDisplay();
  nxtDisplayString (4," Gemessene Distanz:");
  nxtDisplayString (5,"");
  nxtDisplayString (6," %i cm", int_sonorval);
}

task main()
{
/* Hauptschleife - nach 1 Minute Programm auf alle Faelle beenden */
  int int_now;
  int int_end;
  ClearTimer(T1);
  int_now = time10[T1];
  int_end = int_now + 7000;
  while(int_now < int_end) {
    motor[motorC] = 50;
    motor[motorA] = 50;
/*    int_now = nClockMinutes;*/
    int_now = time10[T1];
    StartTask(SonorChk, 1);
    if (int_sonorval < 5 ) // Wenn die Distanz zu einem Objekt < 5 cm dann Stop
    {
      motor[motorC] = 0;
      motor[motorA] = 0;
      int_now = int_now + 7000; // while-Schleife nicht nochmal durchlaufen
    }
  }
  StopAllTasks();
}

void SonorChk()
{
//code
}