// Values set by calibration program
int AvgLevel1, AvgLevel3;
int Diff1, Diff3;

int PulseCnt1 = 0, PulseCnt3 = 0;
int Display;

task main ()
{
  SetSensor (SENSOR_1, SENSOR_LIGHT);
  SetSensor (SENSOR_3, SENSOR_LIGHT);

  SetUserDisplay (Timer(1), 0);
  
  start Monitor_Rotations;
  ClearTimer(1);
  OnRev (OUT_A+OUT_C);
  until (PulseCnt1 > 20);
  Off(OUT_A);
  until (PulseCnt3 > 100);
  OnRev (OUT_A);
  until (PulseCnt1 > 190);
  Off(OUT_C);
  OnFwd (OUT_A);
  until (PulseCnt1 > 290);
  OnFwd (OUT_C);
  OnFwd (OUT_A);
  until (PulseCnt3 > 470);
  Off(OUT_A + OUT_C);
  Display = Timer(1);
  SetUserDisplay(Display,1);
  PlaySound (SOUND_DOUBLE_BEEP);
  ClearMessage();
  until (Message()==1);
  PulseCnt1 = 0;
  PulseCnt3 = 0;
  OnRev (OUT_A+OUT_C);
  until (PulseCnt3 > 30);
  Off(OUT_C);
  until (PulseCnt1 > 100);
  Off(OUT_A);
  OnFwd (OUT_C);
  until (PulseCnt3 > 100);
  OnFwd (OUT_A);
  until (PulseCnt3 > 120);
  Off(OUT_A + OUT_C);
}



task Monitor_Rotations ()
{
  SetEvent(1, SENSOR_1, EVENT_TYPE_HIGH);
  SetUpperLimit(1, AvgLevel1 + (Diff1 / 4));
  SetHysteresis(1, Diff1 / 4);

  SetEvent(2, SENSOR_1, EVENT_TYPE_LOW);
  SetLowerLimit(2, AvgLevel1 - (Diff1 / 4));
  SetHysteresis(2, Diff1 / 4);

  SetEvent(3, SENSOR_3, EVENT_TYPE_HIGH);
  SetUpperLimit(3, AvgLevel3 + (Diff3 / 4));
  SetHysteresis(3, Diff3 / 4);

  SetEvent(4, SENSOR_3, EVENT_TYPE_LOW);
  SetLowerLimit(4, AvgLevel3 - (Diff3 / 4));
  SetHysteresis(4, Diff3 / 4);
  
  while (true)
  {
    monitor( EVENT_MASK(1) | EVENT_MASK(2) | EVENT_MASK(3) | EVENT_MASK(4) )
    {
      while (true)
      {
        Wait(100);
      }
    }
    catch ( EVENT_MASK(1) | EVENT_MASK(2) )
    {
      PulseCnt1++;
    }
    catch ( EVENT_MASK(3) | EVENT_MASK(4) )
    {
      PulseCnt3++;
    }
  }
}