#define LightThr 40
#define PlateWidth 14

int PulseCount;
int Value;

task main()
{
  PulseCount = 0;
  start Count;
  
  SetSensor(SENSOR_2,SENSOR_LIGHT);
  SetSensor(SENSOR_1,SENSOR_TOUCH);
  GetValue(); // And now, find something interesting to do with Value !!!
  StopAllTasks();
  
}

task Count()
{
/* Add 1 to count value at each transition of the touch sensor.
Wait(5) is used to debounce switch. I originally intended to use
Sensor_Mode_Pulse, but it can't keep up with the speed */

  while (true)
  {
    until (SENSOR_1 == 0);
    Wait(5);
    PulseCount++;
    until (SENSOR_1 == 1);
    Wait(5);
    PulseCount++;
  }
}

void GetValue()
{
  Value = 0;
  OnFwd(OUT_A);
  until (SENSOR_2 < LightThr); // Wait for first black plate
  until (SENSOR_2 > LightThr); // Wait for first yellow plate
  PulseCount = 0;
  until (PulseCount > PlateWidth*3/2); // Position in the middle of the first bit
  PulseCount = 0;
  repeat (14)
  {
    Value *= 2;
    if (SENSOR_2 > LightThr) Value++; // If yellow, bit=1
    until (PulseCount > PlateWidth); // Go to next bit
    PulseCount = 0;
  }
  until (PulseCount > 50); // Wait until the card is out of the gears
  Off(OUT_A); 
  
}