task main()
{
 SetSensorType(IN_1, SENSOR_TYPE_TOUCH);        // rear bumper
 SetSensorType(IN_4, SENSOR_TYPE_TOUCH);        // front bumper
 SetSensorTouch(IN_1);                          // rear bumper
 SetSensorType(IN_2,SENSOR_TYPE_LIGHT_ACTIVE);  // color
 SetSensorType(IN_3,SENSOR_TYPE_LOWSPEED_9V);   // ultrasonic
 SetSensorTouch(IN_4);                          // front bumper

 while(1)
 {
         OnFwd(OUT_AB, 75);
         //Wait(2000);
         //OnFwd(OUT_A, 100);
         //OnFwd(OUT_B, 100);
         
         until(SENSOR_4 == 1);

         Off(OUT_AB);
         PlayFileEx("Woops.rso",4,false);
         Wait(500);
         
         RotateMotor(OUT_C, 25, -180);
         
         repeat (5)
         {
                PlayToneEx(TONE_A5, 500, 2, false);
                OnRev(OUT_AB,40);
                Wait(750);
         }
         
         Off(OUT_AB);
         
         RotateMotor(OUT_C, 25, 90);
         RotateMotor(OUT_B, 75, -540);
         
         RotateMotor(OUT_C, 25, 45);
         RotateMotor(OUT_A, 75, 540);
         RotateMotor(OUT_C, 25, 45);
 }
}