Robot Lego RCX 2.0

robot.nqc

int speed, __speed;

task music()
{
  while (true)
  {
  PlayTone(262,40);  Wait(50);
  PlayTone(294,40);  Wait(50);
  PlayTone(330,40);  Wait(50);
  PlayTone(294,40);  Wait(50);
  PlayTone(262,160); Wait(200);
  }
}


task avance()
{
  while (true)
  {
    __speed = speed;
    if (__speed > 0) {OnFwd(OUT_A+OUT_B);}
    if (__speed < 0) {OnRev(OUT_A+OUT_B); __speed = -__speed;}
    /*Wait(__speed);
    Off(OUT_A+OUT_B);*/
  }
}


task obstacle()
{
  SetSensor(SENSOR_1,SENSOR_TOUCH);
  SetSensor(SENSOR_2,SENSOR_TOUCH);
  while (true)
  {
    if ((SENSOR_1 == 1) || (SENSOR_2 == 1))
    {
      stop avance;
      OnRev(OUT_A+OUT_B); Wait(30);
      OnFwd(OUT_A); Wait(80);
      start avance;
    }
  }
}

task main()
{
  speed = 30;

  start music;
  speed = 5;
  start avance;
  start obstacle;
}