mutex moveMutex;

task move_square()
{
  while (true)
  {
    Acquire(moveMutex);                                                                                                                   mutex moveMutex;

task move_square()
{
  while (true)
  {
    Acquire(moveMutex);
    OnFwd(OUT_B, 75); Wait(1000);

    Release(moveMutex);
  }
}

task check_sensors()
{
  while (true)
  {
    if (SENSOR_1 == 1)
    {
      Acquire(moveMutex);
      OnFwd(OUT_B, 0); Wait(5000);
      Release(moveMutex);
    }
  }
}

task main()
{
  SetSensor(IN_1,SENSOR_TOUCH);
  Precedes(check_sensors, move_square);
}

    OnFwd(OUT_B, 75); Wait(1000);

    Release(moveMutex);
  }
}

task check_sensors()
{
  while (true)
  {
    if (SENSOR_1 == 1)
    {
      Acquire(moveMutex);
      OnFwd(OUT_B, 0); Wait(5000);
      Release(moveMutex);
    }
  }
}

task main()
{
  SetSensor(IN_1,SENSOR_TOUCH);
  Precedes(check_sensors, move_square);
}