//Code en nxc pour le pare-choc sur table
//Code en msi2,Noémie et Alexia

#define avance 300
#define virage 250
#define recule 1500
#define power 75
mutex moveMutex;
task move_avant()
{
while(true)
{
Acquire(moveMutex);
OnFwd(OUT_BC,moteurB); Wait(moteurC);
Release(moveMutex);
}
{
task check_sensors()
{
while(true)
{
if(SENSOR_1==1)
{
Acquire(moveMutex);
OnRev(OUT_BC,recule);Wait(power);
OnFwd(OUT_B,power);Wait(virage);
{
Release(moveMutex);
}
}
if(SENSOR_2==1)
{
Acquire(moveMutex);
OnRev(OUT_BC,recule);Wait(power);
OnFwd(OUT_C,power);Wait(virage);
{
Release(moveMutex);
}
}
}
task main()
{
Precedes(move_avant, check_sensors);
SetSensorTouch(IN_1;
SetSensorTouch(IN_2);

}