In the project I used 4 LEGO engines, LEGO light sensor plus the Robocore 1.0.
Project was made to distinguish lighter and darker spheres than the floor of main chamber.
The most important thing in programing Robocore for this project was to strictly distinguish border lines of floor's illumination and by makin simple calculation decide into which chamber the spheres should go to. Program is written in C++ altho with libraries and conections to Robocore bootloader it's posible to write the program in C. Main program is precisly endless instruction for() with instruction switch() in it. The main issues were f. e. reseting motor's encrypters in right time and place in code so the project wont destroy itself due to extensive force or named higher problem with distinguishing exact values of ilumination.