#define LightLeft SENSOR_1 #define LightRight SENSOR_3 #define Steer OUT_A #define Drive OUT_C #define Threshold 2 task main () { int Offset; int Diff; SetSensor (LightLeft, SENSOR_LIGHT); SetSensor (LightRight, SENSOR_LIGHT); Offset = LightLeft - LightRight; OnRev (Drive); while (true) { Diff = LightLeft - LightRight - Offset; if (Diff >= -Threshold && Diff <= Threshold) { Off (Steer); } else { if (Diff > Threshold) { OnFwd (Steer); } else { OnRev (Steer); } } } }