#define Color SENSOR_2 int Red, Green, Blue; int R_B, R_B1; task main () { int RightCnt=0 , LeftCnt=0; InitColSensor(); SetUserDisplay (R_B1,2); while (true) { ReadColor(); R_B=Red - Blue; R_B1=R_B; if (R_B < 1) { RightCnt++; LeftCnt=0; OnFwd (OUT_A); if(RightCnt == 4) { Off (OUT_C); } else { Float (OUT_C); } } else { LeftCnt++; RightCnt=0; OnFwd (OUT_C); if(LeftCnt == 4) { Off (OUT_A); } else { Float (OUT_A); } } } } void InitColSensor () { while (Color > 1) { NextColor (); } } sub ReadColor () { NextColor (); Red=Color; NextColor (); Green=Color; NextColor (); Blue=Color; //Skip Dummy NextColor (); if (Color>1) InitColSensor(); } void NextColor () { SetSensor (Color, SENSOR_LIGHT); SetSensorType (Color, SENSOR_TYPE_TOUCH); SetSensor (Color, SENSOR_LIGHT); Wait (5); }