SUMOEYES.nxc

  #include "SE-lib.nxc"
  #define battle 25
  task main()
  {
  int ob,ob1;
    string x,y;
    SetSensorLowspeed(S4);
    SetSensorLowspeed(S2);

    while(true)
    {
    
               SumoEyes_SetLongRange(S3);
               SumoEyes_SetShortRange(S3);
               ob=SumoEyes_DetectObstacleZone(S3);
               x = SE_OBZoneToString(ob);
               ob1 = SumoEyes_DetectObstacleZone(S3);
               y = SE_OBZoneToString(ob);
               NumOut(0,LCD_LINE3,SensorUS(S2),true);
               NumOut(80,LCD_LINE4,SensorUS(S4),true);
               OnFwdSync(OUT_BC,-50,0);
               TextOut(0,LCD_LINE1, x);
               TextOut(0,LCD_LINE2, y);
               if(SensorUS(S4) <25 || SensorUS(S2)<25)
               {
                OnFwdSync(OUT_BC,-20,0);
               }
               if(x=="FRONT")
                {
                 Off(OUT_BC);
                 //OnFwdSync(OUT_BC,-50,100);
                 do
                 {
                 ob=SumoEyes_DetectObstacleZone(S3);
                 x = SE_OBZoneToString(ob);
                   OnFwdSync(OUT_BC,-20,100);

                 }
                 while(x=="FRONT")
                 OnFwdSync(OUT_BC,-40,0);
                 Wait(800);
                 Off(OUT_BC);
                 Wait(200);
                 Off(OUT_B);
                 OnFwd(OUT_C,-20);
                 Wait(500);
                 }
                if(x=="RIGHT")
                {
                do
                {
                ob=SumoEyes_DetectObstacleZone(S3);
                 x = SE_OBZoneToString(ob);
                  OnFwdSync(OUT_BC,-20,-100);
                }
                while (x=="RIGHT")
                OnFwdSync(OUT_BC,-40,0);
                 Wait(800);
                 Off(OUT_BC);
                 Wait(200);
                 Off(OUT_B);
                 OnFwd(OUT_C,-20);
                 Wait(500);
                }


                if(x=="LEFT")
                {
                do
                {
                ob=SumoEyes_DetectObstacleZone(S3);
                 x = SE_OBZoneToString(ob);
                  OnFwdSync(OUT_BC,20,100);
                }
                while ("condition")
                OnFwdSync(OUT_BC,-40,0);
                 Wait(800);
                 Off(OUT_BC);
                 Wait(200);
                 Off(OUT_C);
                 OnFwd(OUT_B,-20);
                 Wait(500);
                }

     }
  }