task main()
{
int light1, light2, cutoff1, cutoff2, base1 = 0, base2 = 0, current, next;
float angle, angleplus;
angleplus = 5.625;
angle = 0;
current = 0;

while(true)
{
	next = 0;
	base1 = 0;
	base2 = 0;
	light1 = SensorValue[S1];
	light2 = SensorValue[S2];
	cutoff1 = 690;
	cutoff2 = 700;
	if(light1 > cutoff1)
		base1 = 1;
	if(light2 > cutoff2)
		base2 = 1;

	//nxtDisplayCenteredTextLine(1, "S1Value: %d", base1);
	//nxtDisplayCenteredTextLine(2, "S2Value: %d", base2);

	if (base1 == 0 && base2 == 0 )
		{next = 1;}
	else if (base1 == 0 && base2 == 1 )
		{next = 2;}
	else if (base1 == 1 && base2 == 1 )
	  {next = 3;}
	else if (base1 == 1 && base2 == 0 )
		{next = 4;}
	else
		{}

	//nxtDisplayCenteredTextLine(3, "current: %d", current);
	//nxtDisplayCenteredTextLine(4, "next: %d", next);

	if (current == 0)
		{current = next;}
	else
		{
			if( current != next ){
					if (current == 1 && next == 2 )
						angle = angle + angleplus;
					if (current == 1 && next == 3 )
						angle = angle;
					if (current == 1 && next == 4 )
						angle = angle - angleplus;
					if (current == 2 && next == 1 )
						angle = angle - angleplus;
					if (current == 2 && next == 3 )
						angle = angle + angleplus;
					if (current == 2 && next == 4 )
						angle = angle;
					if (current == 3 && next == 1 )
						angle = angle;
					if (current == 3 && next == 2 )
						angle = angle - angleplus;
					if (current == 3 && next == 4 )
						angle = angle + angleplus;
					if (current == 4 && next == 1 )
						angle = angle + angleplus;
					if (current == 4 && next == 2 )
						angle = angle;
					if (current == 4 && next == 3 )
						angle = angle - angleplus;
				}
				current = next;
		}


	nxtDisplayCenteredTextLine(1, "angle: %d", angle);
  wait1Msec(10);
}


}