#define FOGO OUT_C
#define BAL OUT_A
#define JOBB OUT_B
#define KOVETO SENSOR_3
#define INTENSITY_DIFF 40

#define OBJECT_SENSOR SENSOR_1

#define FOGO_IDO 200

int i;
int talalt=0;
int megvan=0;
int defaultLightIntensity;
int blackline;

void Open()
{
  // fogo nyit
  OnFwd(FOGO);
  Wait(FOGO_IDO);
  Off(FOGO);
}

void Close()
{
  // fogo zar
  OnRev(FOGO);
  Wait(FOGO_IDO-100);
  Off(FOGO);
}

void recognizeObject()

{
    if (OBJECT_SENSOR > defaultLightIntensity + INTENSITY_DIFF)
      {
         talalt=1;
         Off(BAL+JOBB);
         Close();
      }
}


void vonalkereses()
{
  OnFwd(BAL+JOBB);

  while(KOVETO < i)
  {
  recognizeObject();
  if (talalt==1) {Off(BAL+JOBB);Close();return;}
  }
    Off(BAL+JOBB);

  // megvan a fekete csik,most fogom kovetni
}

void vonalkovetes()
{
  OnFwd(BAL+JOBB);
  while(KOVETO < blackline)
  {
  }
  Off(BAL+JOBB);

  while(true)
  {
    if (KOVETO > blackline)
       {
       Off(JOBB);
       OnFwd(BAL);
       }
    if (KOVETO < blackline)
       {
       Off(BAL);
       OnFwd(JOBB);
       }
  }
}

task main()
{
  SetPower(BAL,2);
  SetPower(JOBB,2);
  SetPower(FOGO,1);

  SetSensorType(KOVETO,SENSOR_TYPE_LIGHT);
  SetSensorMode(KOVETO,SENSOR_MODE_RAW);
  SetSensorType(OBJECT_SENSOR,SENSOR_TYPE_LIGHT);
  SetSensorMode(OBJECT_SENSOR,SENSOR_MODE_RAW);

  defaultLightIntensity = OBJECT_SENSOR;
  blackline=KOVETO+30;

  Open();
  vonalkereses();
  while (talalt==0)
  {
    OnFwd(BAL);
    OnRev(JOBB);
    Wait(120);
    Off(BAL+JOBB);
    vonalkereses();
  }
  vonalkovetes();

}