SUMOEYES.bak

  #include "SE-lib.nxc"
  #define battle 25
  task main()
  {
  int ob;
    string x,y;
    SetSensorLowspeed(S4);
    SetSensorLowspeed(S2);

    while(true)
    {
    
               SumoEyes_SetLongRange(S3);
               SumoEyes_SetShortRange(S3);
               ob=SumoEyes_DetectObstacleZone(S3);
               x = SE_OBZoneToString(ob);
               ob = SumoEyes_DetectObstacleZone(S3);
               y = SE_OBZoneToString(ob);
               NumOut(0,LCD_LINE3,SensorUS(S4),true);
               OnFwdSync(OUT_BC,-50,0);
               TextOut(0,LCD_LINE1, x);
               TextOut(0,LCD_LINE2, y);
               if(SensorUS(S4) || SensorUS(S2)<25)
               {
                OnFwdSync(OUT_BC,-20,0);
               }
               if(x=="FRONT")
                {
                 Off(OUT_BC);
                 //OnFwdSync(OUT_BC,-50,100);
                 do
                 {
               ob=SumoEyes_DetectObstacleZone(S3);
               x = SE_OBZoneToString(ob);
                   OnFwdSync(OUT_BC,-20,100);
                   
                 }
                 while(x=="FRONT")
                 OnFwdSync(OUT_BC,-40,0);
                 Wait(700);
                 Off(OUT_BC);
                 Wait(200);
                 Off(OUT_B);
                 OnFwd(OUT_C,-20);
                 Wait(500);


                 //RotateMotorEx(OUT_BC, -50, 90, 50, true, true);
                 //PlayTone(5000,30);
                 }



     }
  }