int x,speed,gbias=0,x,y,t=0,div=360;
float gyrobias=0,gyroread=0,gyrodeg=0;
const tSensors Gyro = S1;

task main(){
	SensorType[Gyro]=sensorLightActive;
	SensorMode[Gyro]=modeRaw;
	gyrobias=SensorRaw[Gyro];
	PlaySound(soundBeepBeep);
		while(true){
			eraseDisplay();
			gyroread=SensorRaw[Gyro]-gyrobias;
			gyrodeg+=gyroread/div;
			for(t=0;t<=360;t+=180){
			x = sinDegrees(t+gyrodeg) * 25;
			y = cosDegrees(t+gyrodeg) * 25;
			nxtDrawLine(49,32,x+49,y+32);
			nxtDrawLine(47,32,x+49,y+32);
			nxtDrawLine(51,32,x+49,y+32);
			nxtDrawLine(49,34,x+49,y+32);
			nxtDrawLine(49,30,x+49,y+32);}
			if(gyrodeg< -3){
				motor[motorB]=100;
				motor[motorC]=-100;}
			else if(gyrodeg>3){
				motor[motorB]=-100;
				motor[motorC]=100;}
			else{
				motor[motorB]=0;
				motor[motorC]=0;}
			wait1Msec(1);
		}
}