task main()
{
  SetSensor(SENSOR_1,SENSOR_TOUCH);
  start check_sensors;
  start move_square;
}

task move_square()
{
  while (true)
  {
    OnFwd(OUT_A+OUT_C); Wait(100);
    OnRev(OUT_C); Wait(85);
  }
}

task check_sensors()
{
  while (true)
  {
    if (SENSOR_1 == 1)
    { 
      stop move_square;
      OnRev(OUT_A+OUT_C); Wait(50);
      OnFwd(OUT_A); Wait(85);
      start move_square;
    }
  }
}