#pragma config(Sensor, S2,     colorPort,      sensorCOLORFULL)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

int incr = 0;

int min = 1;
int max = 4;

int time = 0;
int minT = 10;
int maxT = 100;

//*************************************************************


//*****************************
task main()
{


   srand(nSysTime);  // generate seed for rand() from current system time

    while (true)
  {

  incr = (rand() % (max-min)) + min;

       switch (incr)
       {
       case 1:     SensorType[colorPort] = sensorCOLORGREEN;       break;
       case 2:     SensorType[colorPort] = sensorCOLORBLUE;        break;
       //case 3:     SensorType[colorPort] = sensorCOLORFULL;        break;
       case 3:     SensorType[colorPort] = sensorCOLORRED;         break;
       //case 5:     SensorType[colorPort] = sensorCOLORNONE;       break;
         //default:
         }

         time = (rand() % (maxT-minT)) + minT;

         wait1Msec(time);
   }

}


//********************************************************

Re: NXT to NXT Communication HELP!!!
This is the slave:
      
   
Code:
int counter = 0;
task main () {
  int num;
  int chksum;
  ubyte incoming[16];
  nxtEnableHSPort();
  nxtHS_Mode = hsRawMode;
  nxtSetHSBaudRate(9600);
  wait1Msec(2000);
  writeDebugStreamLine("slave alive");
  while(true) {
    num = nxtGetAvailHSBytes();
    if (num > 0) {
      nxtReadRawHS(incoming[0], num);
      if (num == 16)
      {
        chksum = 0;
        for (int i = 1; i < 15; i++) {
          chksum ^= incoming[i];
        }
        if ((chksum == incoming[0]) && (chksum == incoming[15]))
        {
          counter++;
          writeDebugStreamLine("%d %d", counter, incoming[0]);
        }
        else
          writeDebugStreamLine("BAD CHKSUM");
      }
      else
      {
         writeDebugStreamLine("SMALL %d", num);
      }
    }
  }
}
   
      


This is the master:
      
   
Code:
task main () {
  int num;
  ubyte outgoing[16] = {15, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
  //memset (outgoing, 0x00, 16);
  nxtEnableHSPort();
  nxtHS_Mode = hsRawMode;
  nxtSetHSBaudRate(9600);
  wait1Msec(2000);


  for (int i = 0; i < 100; i++) {
    outgoing[0] = i;
    nxtWriteRawHS(outgoing[0], 16, 0);
    wait1Msec(100);
  }
}
   
      

int counter = 0;
task main () {
  int num;
  ubyte chksum;
  ubyte incoming[16];
  nxtEnableHSPort();
  nxtHS_Mode = hsRawMode;
  nxtSetHSBaudRate(9600);
  wait1Msec(2000);
  writeDebugStreamLine("slave alive");
  while(true) {
    num = nxtGetAvailHSBytes();
    if (num > 0) {
      wait1Msec(20);
      num = nxtGetAvailHSBytes();
      nxtReadRawHS(incoming[0], num);
      if (num == 16)
      {
        chksum = 0;
        for (int i = 1; i < 15; i++) {
          chksum ^= incoming[i];
        }
        if ((chksum == incoming[0]) && (chksum == incoming[15]))
        {
          counter++;
          writeDebugStreamLine("%d %d", counter, incoming[0]);
        }
        else
          writeDebugStreamLine("BAD CHKSUM");
      }
      else
      {
         writeDebugStreamLine("SMALL %d", num);
      }
    }
  }
}