sumo.nxc

int ultrasonic = 100;
int ultrasonic_threshold = 50;
int ultrasonic_timing = 50;
int curr_tick;
int last_tick = 0;
int pocitadlo = 0;
int nothing_find_counter = 0;
sub ramming_speed() {
  Off(OUT_BC);
  while (true) {
    OnFwd(OUT_BC, 60);
    Wait(20);
    if (Sensor(IN_2) < 47) {
      PlayTone(650, 200);
      OnFwd(OUT_BC, -30);
      Wait(1200);
      break;
    }
  }
  Off(OUT_BC);
  RotateMotor(OUT_BC, 40, 30);
}
sub random_move() {
  pocitadlo = 0;
  Off(OUT_BC);
  OnFwd(OUT_BC, 60);
  while (true) {
    pocitadlo = pocitadlo + 1;
    OnFwd(OUT_BC, 40);
    Wait(100);
    if (Sensor(IN_2) < 47) {
      PlayTone(650, 200);
      OnFwd(OUT_BC, -30);
      Wait(1200);
      Off(OUT_BC);
      break;
    }
    if (55555 < pocitadlo) {
      break;
    }
  }
  Off(OUT_BC);
  nothing_find_counter = 0;
}
sub ranging() {
  while (true) {
    OnFwd(OUT_B, 40);
    OnRev(OUT_C, 40);

    ultrasonic = SensorUS(IN_4);

    if (ultrasonic < 50) {
      PlayTone(450, 500);
      Wait(10);
      ramming_speed();
    }

    nothing_find_counter = nothing_find_counter + 1;
    if (nothing_find_counter > 100) {
      random_move();
    }
  }
}
task main() {
  SetSoundVolume(4);
  SetSensorLight(IN_2);
  SetSensorLowspeed(IN_4);
  ranging();
}