'definition entrees/sorties
symbol ir = B.3
symbol ll = C.0
symbol lr = B.5
'definition variables
symbol ob = b1

'programme

main:
gosub obstacle
if ob > 100 then esquiver
if ob < 100 then avancer
goto main

'sous programme

obstacle:
readadc ir,ob
return

avancer:
pulsout c.2,220
pause 150
pulsout c.1,165
pulsout b.4,165
pause 150
pulsout c.2,80
pause 150
pulsout c.1,135
pulsout b.4,135
pause 150
goto main

esquiver:
low c.0
low b.5
pulsout c.2,80
pause 150
pulsout c.1,165
pulsout b.4,165
pause 150
pulsout c.2,220
pause 150
pulsout c.1,135
pulsout b.4,135
pause 150
pulsout c.2,80
pause 150
pulsout c.1,165
pulsout b.4,135
pause 150
pulsout c.2,220
pause 150
pulsout c.1,135
pulsout b.4,165
pause 150
pulsout c.2,80
pause 150
pulsout c.1,165
pulsout b.4,135
pause 150
pulsout c.2,220
pause 150
pulsout c.1,135
pulsout b.4,165
pause 150
high c.0
high b.5
goto main