task main()
{
  SetSensor(SENSOR_1,SENSOR_LIGHT);
  SetSensor(SENSOR_2,SENSOR_ROTATION);
  SetSensor(SENSOR_3,SENSOR_TOUCH);
  SetPower(OUT_A,2);
  SetPower(OUT_B,1);
  SetDirection(OUT_A+OUT_B,OUT_REV);
  OnFor(OUT_A,400);
  Off(OUT_A);
  On(OUT_B);
  Wait(3);
  while(SENSOR_3!=1) {}
  Off(OUT_B);
  SetDirection(OUT_A+OUT_B,OUT_FWD);
  PlaySound(SOUND_CLICK);
  CreateDatalog(1500);
  int dat;
  int firstval;
  int secondval;
  int curcol;
  int maxcol;
  int curstat;
  int currot;
  dat=0;
  maxcol=0;
  curstat=4444;
  ClearMessage();
  while (curstat==4444 && Message()!=1) {}
  curstat=0;
  while (curstat!=5555)
  {
    curcol=0;
    On(OUT_B);
    ClearMessage();
    while(SENSOR_3==1)
    {
      firstval=SENSOR_1;
      ClearSensor(SENSOR_2);
      currot=SENSOR_2+1;
      while (SENSOR_2<currot) {}
      curcol++;
      secondval=SENSOR_1 + (100 * firstval);
      currot=SENSOR_2+1;
      while (SENSOR_2<currot) {}
      curcol++;
      AddToDatalog(secondval);
      dat++;
      if(Message()==1) { curstat=5555; }
    }
    repeat(10)
    {
      firstval=SENSOR_1;
      ClearSensor(SENSOR_2);
      currot=SENSOR_2+1;
      while (SENSOR_2<currot) {}
      curcol++;
      secondval=SENSOR_1 + (100 * firstval);
      currot=SENSOR_2+1;
      while (SENSOR_2<currot) {}
      curcol++;
      AddToDatalog(secondval);
      dat++;
      if(Message()==1) { curstat=5555; }
    }
    while(SENSOR_3!=1)
    {
      firstval=SENSOR_1;
      currot=SENSOR_2+1;
      while (SENSOR_2<currot && SENSOR_3!=1) {}
      curcol++;
      if(SENSOR_3==1)
      {
        secondval = -100 * firstval;
      }else{
        secondval=SENSOR_1 + (100 * firstval);
        currot=SENSOR_2+1;
        while (SENSOR_2<currot && SENSOR_3!=1) {}
        curcol++;
      }
      AddToDatalog(secondval);
      dat++;
      if(Message()==1) { curstat=5555; }
    }
    Off(OUT_B);
    if (maxcol<curcol) maxcol=curcol;
    SetPower(OUT_B,4);
    OnRev(OUT_B);
    while(SENSOR_3==1) {}
    Wait(100);
    while(SENSOR_3!=1) {}
    Off(OUT_B);
    SetPower(OUT_B,1);
    SetDirection(OUT_B,OUT_FWD);
    AddToDatalog(9999);
    if(dat>=1500-maxcol)
    {
      PlaySound(SOUND_DOUBLE_BEEP);
      curstat=9999;
      while(curstat>0)
      {
        if(Message()==1) { curstat=5555; }
      }
      CreateDatalog(1500);
      dat=0;
    }
    OnFor(OUT_A,4);
    Off(OUT_A);
  }
  SetDirection(OUT_A+OUT_B,OUT_REV);
  OnFor(OUT_A,400);
  Off(OUT_A);
  On(OUT_B);
  Wait(3);
  while(SENSOR_3!=1) {}
  Off(OUT_B);
  SetDirection(OUT_A+OUT_B,OUT_FWD);
  PlaySound(SOUND_DOUBLE_BEEP);
  curstat=9999;
  while(curstat>0);
  PlaySound(SOUND_DOWN);
}