// sorter.nqc
//  program for Brick Sorter

#define EYE    SENSOR_1
#define NOTCH  SENSOR_3

#define ARM    OUT_A

// you may need to adjust these 
#define NO_BRICKS     35
#define BRIGHT_BRICK  45
#define BRICK_DELAY   10

task main()
{
    // configure sensors
    SetSensor(EYE, SENSOR_LIGHT);
    SetSensor(NOTCH, SENSOR_TOUCH);

    // run until no more bricks
    while(EYE >= NO_BRICKS)
    {
        // check color of brick
        if (EYE > BRIGHT_BRICK)
            Fwd(ARM);
        else
            Rev(ARM);
        
        // wait until arm has moved to end
        On(ARM);
        until(NOTCH == 1);
        until(NOTCH == 0);
        
        // reverse direction arm and wait until centered
        Toggle(ARM);
        until(NOTCH==1);
        until(NOTCH==0);
        
        // stop arm
        Off(ARM);
        
        // wait a little while for next brick to slide down
        Wait(BRICK_DELAY);
    }
}