#pragma config(Sensor, S1,     TOUCH,               sensorTouch)
#pragma config(Motor,  motorA,          MOTOR_A,       tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorB,          MOTOR_LEFT,    tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorC,          MOTOR_RIGHT,   tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
 * 1 i want the robot to go forward until the touchsensor detects any wall.
 * 2 After this i want the robot to go backwards,
 * 3 and turns 180 degress.
 * 4 And after 2 seconds begin to move the motor A ( power = 100).
 * 5 when the motor A its working ( for 10 seconds)
 * 6 i want the robot goes 2 seconds forwards,
 * 7 and turns at left hand ( for 2 or 3 seconds)
 */

// This is the main task from which all the other commands are started
task main ()
{

  /*
   * 1 i want the robot to go forward until the touchsensor detects any wall.
   */

  // Start the motors to move the robot forwards at 50%
  motor[MOTOR_LEFT] = 50;
  motor[MOTOR_RIGHT] = 50;
 
  // keep moving until the touch sensor detects a wall
  // Check the bumper every 10 miliseconds
  while (SensorBoolean[TOUCH] == false)
  {
    wait1Msec(10);
  }
 
  // Stop the motors when the wall has been detected
  motor[MOTOR_LEFT] = 0;
  motor[MOTOR_RIGHT] = 0;

  /*
   * 2 After this i want the robot to go backwards,
   */

  // Start the motors to move the robot backwards at 50%
  motor[MOTOR_LEFT] = -50;
  motor[MOTOR_RIGHT] = -50;

  /*
   * 3 and turns 180 degress.
   */


  /*
   * 4 And after 2 seconds begin to move the motor A ( power = 100).
   */


  /*
   * 5 when the motor A its working ( for 10 seconds)
   */


  /*
   * 6 i want the robot goes 2 seconds forwards,
   */


  /*
   * 7 and turns at left hand ( for 2 or 3 seconds)
   */
}