Gyroscopic Sensor

#pragma config(Sensor, S2,     GYRO,           sensorI2CHiTechnicGyro)

#include "drivers/HTGYRO-driver.h"

task main ()
  {
  int rotation=0;

  nxtDisplayTextLine(0, "HT Gyro");
  nxtDisplayTextLine(1, "Test 1");

  wait1Msec(2000);
  eraseDisplay();

  time1[T1] = 0;
  while(true) {
    if (time1[T1] > 1000)
      {
      time1[T1] = 0;
      }

      if(HTGYROreadRot(GYRO)<-15 && HTGYROreadRot(GYRO)>-40) //between sensor values -15 and -40
      {                                                      //will get rotation value 1
        rotation=1;
      }
      else
      {
        rotation=2;                                          //else it will be 2
      }

      if (rotation==1)                                       //when rotation value is 1 it will move
      {
        motor[motorA]=30;
        motor[motorB]=30;
      }

      if (rotation==2)                                       //when rotation value is 2, robot will stop
      {
        motor[motorA]=0;
        motor[motorB]=0;
      }
      eraseDisplay();

      nxtDisplayTextLine(1, "Reading");
                                                             // Read the current calibration offset and display it
      nxtDisplayTextLine(2, "Scale: %4d", HTGYROreadCal(GYRO));

      nxtDisplayClearTextLine(4);
                                                             // Read the current rotational speed and display it
      nxtDisplayTextLine(4, "Gyro:   %4d", HTGYROreadRot(GYRO));
      wait1Msec(10);

  }
}