task main ()
{

// This is a left follow
     // Turn off both motors
     Off (OUT_A + OUT_C);
     SetSensor (SENSOR_3, SENSOR_LIGHT);
     SetSensor (SENSOR_2,SENSOR_TOUCH);
     SetSensor (SENSOR_1,SENSOR_TOUCH);

     SetPower (OUT_A + OUT_C,5);
     // Wait for 5 seconds
     Wait (500);

     // Start off by going foward and always hugging the left wall
     SetPower (OUT_C,0);
     SetPower (OUT_A,7);
     OnRev (OUT_A+ OUT_C);

     while (true)
     {
       //left wall hit
       if (SENSOR_2==true)
       {
          Off(OUT_A + OUT_C);
           SetPower (OUT_A + OUT_C ,1);
           
           // Back Up
           OnFwd(OUT_A + OUT_C);
           Wait(20);
           
           // Turns Rigth
           OnRev(OUT_C);
           Wait(35);
          Off(OUT_A + OUT_C);

           // Go Fwd
           SetPower (OUT_C,0);
           SetPower (OUT_A,7);
           OnRev (OUT_A+ OUT_C);
       }
       // right wall hit
       if (SENSOR_1==true)
       {
          Off(OUT_A + OUT_C);
           SetPower (OUT_A + OUT_C ,1);
           OnFwd(OUT_A + OUT_C);
           Wait(20);
           OnRev(OUT_C);
           Wait(35);
          Off(OUT_A + OUT_C);
           //Wait(30);
           SetPower (OUT_C,0);
           SetPower (OUT_A,7);
           OnRev (OUT_A+ OUT_C);
       }
       
       // Found white floor so this must be the end of the maze
       if (SENSOR_3>40)
       {
          //Wait(50);
          //OnFwd(OUT_A);
          Wait(100);
          Off(OUT_A + OUT_C);
          SetPower(OUT_A + OUT_C,0);
       }
     }
}