#include "NXCDefs.h"

#define NEAR 15  //cm

task main() {
     SetSensorLowspeed(IN_4);
     while(true) {
         OnFwd(OUT_BC,50);
         while(SensorUS(IN_4) > NEAR) {
             NumOut(70,LCD_LINE4,SensorUS(IN_4));
         }
         Off(OUT_BC);
         OnRev(OUT_C,100);
         Wait(800);
     }
}