#pragma config(StandardModel, "EV3_REMBOT")

task main()
{
    const int distanceToMaintain = 30;

    int currentDistance = 0;

    while(true)
    {
        currentDistance = SensorValue[sonarSensor];

        displayCenteredBigTextLine(4, "Dist: %3d cm", currentDistance);

        if ((distanceToMaintain - currentDistance) < -2) {
            motor[motorB] = 25;
            motor[motorC] = 25;
        }

        else if ((distanceToMaintain - currentDistance) > 2) {
            motor[motorB] = -25;
            motor[motorC] = -25;
        }

        else{
            motor[motorB] = 0;
            motor[motorC] = 0;
        }

        sleep(50);
    }
}