#pragma config(Sensor, S1,     right,          sensorI2CHiTechnicCompass)
#pragma config(Sensor, S2,     middle,         sensorI2CHiTechnicCompass)
#pragma config(Sensor, S3,     left,           sensorI2CHiTechnicCompass)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main
{
  while(true)
  {
    int rat = SensorValue(S1);
    int cat = SensorValue(S2);
    int dog = SensorValue(S3);
    int Compass = ((rat+cat+dog)/3);
    /*
    This is meant to take the mean of the 3 sensors to give you a more accrete answer
    */

    if (Compass <178)
    {
      motor[motorA]=50;
      motor[motorC]=-50;
    }
    /*
    if the mean of the 3 sensors is less then 178 then turn left
    */

    if (Compass >182)
    {
      motor[motorA]=-50;
      motor[motorC]=50;
    }
    /*
    if the mean of the 3 sensors is greater then 182 then turn right
    */

    if (Compass <182 && Compass> 179)
    {

      motor[motorA]=0;
      motor[motorC]=0;
      PlaySound(soundBeepBeep);
      wait1Msec(1000);
      /*
      this makes the robot stop and beep for 1.5 sec so that you have time to
      mark which way the sensor is pointing
      */
      int pug= (rand()/5);// rand() just genrates a random number
      nSyncedMotors =(synchAC);
      nSyncedTurnRatio=-100;
      motor[motorA]=pug;
      wait1Msec(pug);
      nSyncedMotors=(synchNone);
    }
    /*
    this is just to make sure that it is nice and mixed up so i
    have a accurate anser
    */

  }
}