void OverBall() {
    RotateMotorEx (OUT_AB, -95, 194, 0, true, true);
    RotateMotorEx (OUT_AB, 95, 609, 0, true, true);
}

void ColorBall() {
    SetSensorColorFull(S1); // redacted
    SetSensorLowspeed(S2);
    int color = SENSOR_1;
    this.color = color;
    switch (color) {
        case 2:
            RotateMotor(OUT_C, -90, 85);
            Wait(1500);
            PlayTone(500, 100);
            Wait(400);
            OverBall();
            break;
        default:
            PlayTone (1000, 300);
            Wait (400);
    }
}

void PickUpBall() {
	RotateMotorEx (OUT_AB, 50, 194, 0, true, true);
	PlayTone(1000, 300);
	Wait(300);
	RotateMotor (OUT_C, 95, 85);
	ColorBall();
}

task main() {
    SetSensorLowspeed(S2);
    int x=SENSOR_2;
    while(x<10) {
        OnFwd(OUT_AB);
    }
    PickUpBall();

}