int black1;
int black2;
int white1;
int white2;
int leftright;
int forwardbackward;
int position;
int currentposition;

task main()

{
 SetSensorType (SENSOR_2, SENSOR_TYPE_LIGHT);
 SetSensorMode (SENSOR_2, SENSOR_MODE_PERCENT);
 SetSensorType (SENSOR_1, SENSOR_TYPE_LIGHT);
 SetSensorMode (SENSOR_1, SENSOR_MODE_PERCENT);
 SetSensor(SENSOR_3,SENSOR_TOUCH);
 black1 = SensorValue(0);
 black1 += 4;
 black2 = SensorValue(1);
 black2 += 4;
 white1 = SensorValue(0);
 white1 += 10;
 white2 = SensorValue(1);
 white2 += 12;
 
 while(true){
 
  if(SensorValue(0) < black1)
   {
    leftright = 2;
   }
  else
   {
     if(SensorValue(0) > white1)
     {
     leftright = 1;
      }
      else
      {
      leftright = 3;
      }
    }
    
    
      if(SensorValue(1) < black2)
   {
    forwardbackward = 2;
   }
  else
   {
     if(SensorValue(1) > white2)
     {
     forwardbackward = 1;
      }
      else
      {
      forwardbackward = 3;
      }
    }
    
 if(leftright == 1)
 {
      if(forwardbackward == 1) {position = 3;}
      if(forwardbackward == 2) {position = 6;}
      if(forwardbackward == 3) {position = 9;}
 }

 if(leftright == 2)
 {
      if(forwardbackward == 1) {position = 2;}
      if(forwardbackward == 2) {position = 5;}
      if(forwardbackward == 3) {position = 8;}
 }

 if(leftright == 3)
 {
      if(forwardbackward == 1) {position = 1;}
      if(forwardbackward == 2) {position = 4;}
      if(forwardbackward == 3) {position = 7;}
 }
 if(SensorValue(2) > 0)
 {
  position += 10;
 }
SendMessage (position);
currentposition = position;
SetUserDisplay(currentposition, 0);
while(currentposition == position)
{
  if(SensorValue(0) < black1)
   {
    leftright = 2;
   }
  else
   {
     if(SensorValue(0) > white1)
     {
     leftright = 1;
      }
      else
      {
      leftright = 3;
      }
    }


      if(SensorValue(1) < black2)
   {
    forwardbackward = 2;
   }
  else
   {
     if(SensorValue(1) > white2)
     {
     forwardbackward = 1;
      }
      else
      {
      forwardbackward = 3;
      }
    }

 if(leftright == 1)
 {
      if(forwardbackward == 1) {position = 3;}
      if(forwardbackward == 2) {position = 6;}
      if(forwardbackward == 3) {position = 9;}
 }

 if(leftright == 2)
 {
      if(forwardbackward == 1) {position = 2;}
      if(forwardbackward == 2) {position = 5;}
      if(forwardbackward == 3) {position = 8;}
 }

 if(leftright == 3)
 {
      if(forwardbackward == 1) {position = 1;}
      if(forwardbackward == 2) {position = 4;}
      if(forwardbackward == 3) {position = 7;}
 }
  if(SensorValue(2) > 0)
 {
  position += 10;
 }
 
 }

 } }