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Start

Insert loop to never stop

we didnt have time to proof this programm

Insert a switch in with an ultrasonic sensor in compare distance in cm

greater or equal to 20

Insert move stering motor C and D at a power of 30

Detect sensor color, light reflection greater tan or equal to 50 with the 3rth port

Insert a move steering in rotations with 1 rotation and 50 of power

yes

Insert a switch in with an ultrasonic sensor in compare distance in cm

greater or equal to 20

stop motors D and C

wait .5 seconds

Insert a switch in with an ultrasonic sensor in compare distance in cm

less than or equal to 20

No

Error Alarm

Insert a switch in with an ultrasonic sensor in compare distance in cm

greater or equal to 20

Stop motor C and D

Move infinite motor C

Move infinite motor D

Detect sensor color, light reflection, less than or equal to 50 with the 2nd port

Detect sensor color, light reflection greater than or equal to 50 with the 3rth port

Move infinite motor D

Move infinite Motor C

Detect sensor color, light reflection, less than or equal to 50 with the 3th port