testerino.nxc

task main() {
    string color_str; //string to display color on monitor for debugging
    int n,e,s,w;

    SetSensorColorFull(IN_1); //turn rbg sensor on

    while (true) {

        if (Sensor(IN_1) == 1){ // check if rgb sensor read "black"
           color_str = "Black";
           until (Sensor(IN_1) != 1) {
               OnFwd(OUT_AC, 30); // move forward with an output power of 30
           }
	         Off(OUT_AC); // stop motors to read the next color

        }
        else if (Sensor(IN_1) == 2){ //check if rgb sensor read "blue"
           color_str = "Blue";
           OnRev(OUT_AC, 15);
           Wait(100);
           Off(OUT_AC);
           while (Sensor(IN_1) == 2) {
               OnFwd(OUT_A, 30);
               OnRev(OUT_C, 30);
           }
           Off(OUT_AC);
        }
        else if (Sensor(IN_1) == 3){ //check if rgb sensor read "blue"
           color_str = "Blue";
           while (Sensor(IN_1) == 2) {
               OnFwd(OUT_A, 30);
               OnRev(OUT_C, 30);
           }
           Off(OUT_AC);
        }

        else if (Sensor(IN_1) == 6){ //check if rgb sensor read "white"
           color_str = "White";
           while (Sensor(IN_1) == 2) {
               OnFwd(OUT_A, 30);
               OnRev(OUT_C, 30);
           }
           Off(OUT_AC);
        }
        else if (Sensor(IN_1) == 4){ //check if rgb sensor read "yellow"
           color_str = "Yellow";
           // collect color that is ahead of me
           OnFwd(OUT_AC, 20);
           Wait(100);
           Off(OUT_AC);
           n = Sensor(IN_1); // store color at the north value
           TextOut(0, 0, NumToStr(n)); // display current color on the monitor
           // reset position
           until (Sensor(IN_1) == 4) {
               OnRev(OUT_AC, 20);
           }
           Off(OUT_AC);
           // collect color that is to the left of me
           // turn left 90 degrees
           OnFwd(OUT_C, 75);
	         OnRev(OUT_A, 75);
	         Wait(1050);
           Off(OUT_AC);
           // move forward to collect color
           OnFwd(OUT_AC, 20);
           Wait(100);
           Off(OUT_AC);
           w = Sensor(IN_1);
           // reset position
           OnRev(OUT_AC, 20);
           Wait(100);
           Off(OUT_AC);

           // collect color that is to the right of me and continue
           OnFwd(OUT_A, 75); // rotate clockwise 180 degrees
           OnRev(OUT_C, 75);
           Wait(2100);
           Off(OUT_AC); // stop motor to read the next color
           OnFwd(OUT_AC, 20);
           Wait(100);
           e = Sensor(IN_1);
           Off(OUT_AC);

        }


        TextOut(0, 0, color_str); // display current color on the monitor
    }
}


/*
future todos:
implement current code into starter code ;)
figure out sound function with a functional nxt
cover up the light sensor with a piece of paper
navigate to the center
keep track of places that have been to
read green/blue as buildings
*/