task main()
{
#pragma config(Sensor, in1,    lineFollowerRIGHT,   sensorLineFollower)
#pragma config(Sensor, in2,    lineFollowerCENTER,  sensorLineFollower)
#pragma config(Sensor, in3,    lineFollowerLEFT,    sensorLineFollower)
#pragma config(Motor,  port2,           rightMotor,    tmotorNormal, openLoop, reversed)
#pragma config(Motor,  port3,           leftMotor,     tmotorNormal, openLoop)


task main()
{
  wait1Msec(2000);          // The program waits for 2000 milliseconds before continuing.

  int threshold = 505;      /* found by taking a reading on both DARK and LIGHT    */
                            /* surfaces, adding them together, then dividing by 2. */
  while(true)
  {
   
    // RIGHT sensor sees dark:
    if(SensorValue(lineFollowerRIGHT) > threshold)
    {
      // counter-steer right:
      motor[leftMotor]  = 63;
      motor[rightMotor] = 0;
    }
    // CENTER sensor sees dark:
    if(SensorValue(lineFollowerCENTER) > threshold)
    {
      // go straight
      motor[leftMotor]  = 63;
      motor[rightMotor] = 63;
    }
    // LEFT sensor sees dark:
    if(SensorValue(lineFollowerLEFT) > threshold)
    {
      // counter-steer left:
      motor[leftMotor]  = 0;
      motor[rightMotor] = 63;
    }
  }