projeto1.c

#define THRESHOLD 40

struct ColorState {
  int colorval;
  unsigned int raw[];
  unsigned int norm[];
  int scaled[];
};

string debug_std_colors[] = {
    "Black", "Blue", "Green", "Yellow", "Red", "White"
};

string debug_color;
ColorState color_state;
mutex color_mutex;

void ReadColorSensor() {
  Acquire(color_mutex);
  ReadSensorColorEx(IN_3,
                    color_state.colorval,
                    color_state.raw,
                    color_state.norm,
                    color_state.scaled);
  Release(color_mutex);
}

void PrintColorSensor() {
  Acquire(color_mutex);
  debug_color = debug_std_colors[color_state.colorval - 1];
  unsigned int red = color_state.norm[0];
  unsigned int green = color_state.norm[1];
  unsigned int blue = color_state.norm[2];
  Release(color_mutex);

  TextOut(0, LCD_LINE1, debug_color, true); // true here will clear the screen
  TextOut(0, LCD_LINE2, "red      = " );
  NumOut (80, LCD_LINE2, red);
  TextOut(0, LCD_LINE3, "green    = " );
  NumOut (80, LCD_LINE3, green);
  TextOut(0, LCD_LINE4, "blue     = " );
  NumOut (80, LCD_LINE4, blue);

}


task color() {
  while (true) {
    ReadColorSensor();
    PrintColorSensor();
  }
}

task walk()
{
     bool reverte = false;
     OnFwd(OUT_AC, 75);
     int time = 75;
     while (true)
     {
           if (color_state.colorval == 6)
           {
              if(reverte == false){
                  OnRev(OUT_C, 75);
              }else {
                  OnFwd(OUT_AC, 75);
                  OnRev(OUT_A, 75);
              }
              reverte = !reverte;
              Wait(100);
              while(color_state.colorval != 6){
                  OnFwd(OUT_AC, 75);
                  Wait(100);
              }
           }
     }
}

task main() {
     SetSensorColorFull(IN_3);
     Precedes(walk, color);
}