task main() {

int y=0;      //  output of rotation sensor
int uc=0;      // actuator command signal 
int uc_mag = 0;  // magnitude of actuator command
int power_level = 0;  // power level to motor
int time=0;  // time
int e=0;     // error signal
int r = 0;   // reference signal
int counter = 0;  //counter on number of loops for program

    SetSensor(SENSOR_1,SENSOR_ROTATION);     // initialize sensors

    ClearTimer(0);    // init timer 0 to 0
    CreateDatalog(200);    // datalog for 100 points
    r = 32;      
  
    while (counter <= 100) {

       y = SensorValue(0);  //read sensor 1
       time = Timer(0);  
       AddToDatalog(time); 
       AddToDatalog(y);

       // compute control       
       e = r - y;
       uc =  e/4 ; // actuator command
         /* note: gain is 1/3, but we have to 
            deal with integer values and division so it is implemented
            this way. The resulting uc is an integer value.*/
  
       /*  The next commands convert the actuator command into
           an appropriate power level and sets the direction
           of the motor. These commands assume that uc is mostly
           in the range of 0 to 9. If not, then lower the gain. */ 
       uc_mag = abs(uc);     // to get the magnitude of the actuator command
       if (uc_mag == 0) {   // set motor to float
         Float(OUT_A);
       }
       else {
          if (uc_mag > 8) {
             uc_mag = 8;       // must saturate the command
          }          
          power_level = uc_mag - 1;  // power level range is 0 to 7.  
             /* Note: power_level of 0 is not zero power!  It is the
              lowest nonzero level. That is why we use the float for zero power.*/
          SetPower(OUT_A,power_level); // set motor power level
          switch(sign(uc)) {  // set direction of motor
          case 1:
            Rev(OUT_A);
            On(OUT_A);
            break;
          case 0:
            Float(OUT_A);  // "off" but not "braked"
            break;
          case -1:
            Fwd(OUT_A);
            On(OUT_A);
            break;
          }
       }
       counter++; 
    }
    Off(OUT_A);
}