#define ANGLE 1000
#define SPEED 10
#define WAIT 2

int Radar[100];
int Position;

task Turn_radar()
{
  ResetTachoCount( OUT_A);
  while (true)
  {
      Wait( WAIT);
      RotateMotor( OUT_A, +SPEED, ANGLE);
      Wait( WAIT);
      RotateMotor( OUT_A, -SPEED, ANGLE);
  }
}
task Radar_unit()
{ int Distance;

   SetSensorLowspeed(IN_4);
   while (true)
   {  Distance = SensorUS( IN_4);
      Position = MotorTachoCount(OUT_A)*100/ANGLE;
      
      LineOut(0,0,Position,0);
      LineOut(Position,0,99,0,DRAW_OPT_CLEAR);
      printf("%5d", Distance);
      Wait( 50);
   }
}

task main()
{
  Precedes(Turn_radar,Radar_unit);
  ClearScreen();
}