//Lego NXT Braitenberg Vehicle 2 code - Brian Dupuis 2008

//Plain English definitions. Note that these are arbitrary; LeftMotor may
//actually be wired to the right input port.
#define LeftEye S1
#define RightEye S4
#define LeftMotor OUT_B
#define RightMotor OUT_C

//The next two tasks run in parallel and constantly feed the values of each
//eye into the respective motor as a speed.

task DriveLeft(){
  while(true){
    OnFwd(LeftMotor, Sensor(LeftEye));
  }
}

task DriveRight(){
  while(true){
    OnFwd(RightMotor, Sensor(RightEye));
  }
}

//Main task. Turn on the eyes (but not their LEDs) and start the tasks.

task main(){
  SetSensorType(LeftEye, SENSOR_TYPE_LIGHT_INACTIVE);
  SetSensorType(RightEye, SENSOR_TYPE_LIGHT_INACTIVE);
  SetSensorMode(LeftEye, SENSOR_MODE_PERCENT);
  SetSensorMode(RightEye, SENSOR_MODE_PERCENT);
  start DriveLeft;
  start DriveRight;
}