#define Light SENSOR_1 #define Steer OUT_A #define Drive OUT_C #define MidVal 37 #define Threshold 2 task main () { int Diff; SetSensor (Light, SENSOR_LIGHT); OnRev (Drive); while (true) { Diff = Light - MidVal; if (Diff >= -Threshold && Diff <= Threshold) { Off (Steer); } else { if (Diff > Threshold) { OnFwd (Steer); } else { OnRev (Steer); } } } }