//*!!Code automatically generated by 'ROBOTC' configuration wizard.              !!*//
//*!!Analog,     0,                     , ,                                      !!*//
//*!!Camera,     0,                     , ,                                      !!*//
//*!!PSCtrl,     0,                     , ,                                      !!*//
//*!!Sensor,   in1,         START_BUTTON, sensorTouch,      ,                    !!*//
//*!!Sensor,   in2,              ENCODER, sensorRotation,      ,                 !!*//
//*!!Motor,  port1,           LEFT_MOTOR, tmotorReversed,                        !!*//
//*!!Motor,  port2,          RIGHT_MOTOR, tmotorNormal,                          !!*//
//*!!                                                                            !!*//
//*!!Start automatically generated configuration code.                           !!*//
const tSensors START_BUTTON         = (tSensors) in1;  //sensorTouch        //*!!!!*//
const tSensors ENCODER              = (tSensors) in2;  //sensorRotation     //*!!!!*//
const tMotor   LEFT_MOTOR           = (tMotor) port1;  //tmotorReversed     //*!!!!*//
const tMotor   RIGHT_MOTOR          = (tMotor) port2;  //tmotorNormal       //*!!!!*//
//*!!CLICK to edit 'wizard' created sensor & motor configuration.                !!*//

task main()
{
	int maxTicks = 2200;
	int time = 0;
	int currentTicks = 0;
	int motorSpeedL = 127;
	int motorSpeedR = 83;

	while(SensorValue[START_BUTTON] == 0)
	{
	}

	wait1Msec(500);

	ClearTimer(T1);

	SensorValue[ENCODER] = 0;

	motor[LEFT_MOTOR] = motorSpeedL;
	motor[RIGHT_MOTOR] = motorSpeedR;

	while((currentTicks = SensorValue[Encoder]) < maxTicks)
	{
		time = time1[T1];

		if(currentTicks + 200 > maxTicks)
		{
			motorSpeedL /= 2;
			motorSpeedR /= 2;
		}
	}

	motor[LEFT_MOTOR] = 0;
	motor[RIGHT_MOTOR] = 0;
}