/* Simple forward for sumo with light sampling control of start;  3/9/02 
assumes RCX with light sensor in port 2, motors on #A & C. view button
sets threshold value
Added begin and end display 1/20/03 tlg*/


void main()
{
    int threshold = 600;
    printf("sumo1");sleep(3.);
    while(1)
      {
        while(prgm_button()==0){
            while(view_button()==1){
                threshold += 5;
                printf("%d=t\n",threshold);
                if(threshold > 750){threshold = 600;}
                sleep(.4); 
            }
            printf("Press"); sleep(.4);
            printf("Prgm"); sleep(.7);
            printf("%d\n",light(2));
            sleep(1.0);
        }
        
        while(light(2)> threshold)
          {
            printf("<%d?\n", light(2) );
            sleep(.15);
        }
        beep();
        /* actual sumo code goes here: 
fd(A);
fd(C);
sleep(5.0); /* run for 5 seconds */
        off(A); off(C);
        printf("done");sleep(4.);
    }
}