//Code en nxc pour le pare-choc sur table
//Code en msi2, Clovis Gravel
#define avance 300
#define virage 250
#define recule 1500
#define power 75
mutex moveMutex;
task move_avant()
{
while (true)
        {
Acquire(moveMutex);
OnFwd(OUT_BC,75);Wait(300);
Release(moveMutex);
       }
}
task check_sensors()
{
while (true)
    {
if (SENSOR_1==1)
       {
Acquire(moveMutex);
OnRev(OUT_BC,75);Wait(300);
OnFwd(OUT_B,power);Wait(250);
        {
Release(moveMutex);
        }
	  }
if (SENSOR_2==1)
       {
Acquire(moveMutex);
OnRev(OUT_BC,75);Wait(300);
OnFwd(OUT_C,power);(virage);
           {
Release(moveMutex);
           }
		}
	}
task main()
{
Precedes(move_avant, check_sensors
SetSensorTouch(IN_1);
SetSensorTouch(IN_2);

}