task main()
{
  TextOut(0, LCD_LINE1, "Starting in 2s");
  Wait(2000);
         while(true){
  //TextOut(0, LCD_LINE1, "Rotate 45 +");
  RotateMotor(OUT_A, 75, 45);
  
  //TextOut(0, LCD_LINE1, "Rotate 45 -");
  RotateMotor(OUT_A, -75, 45);

  //TextOut(0, LCD_LINE1, "Rotate 360 + x2");
  RotateMotor(OUT_A, 75, 360);
  RotateMotor(OUT_A, 75, 360);

  //TextOut(0, LCD_LINE1, "Rotate 180 -");
  RotateMotor(OUT_A, -75, 180);
  
  //TextOut(0, LCD_LINE1, "Try Exact 90+");
  
  //NumOut(0, LCD_LINE2, MotorTachoCount(OUT_A));
  ResetTachoCount(OUT_A);
  //NumOut(0, LCD_LINE3, MotorTachoCount(OUT_A));
  
  OnFwd(OUT_A, 100);
  
  int degrees = 0;
  int expected = 360;
  int diff = 0;
  int lastReading = 0;
  while(degrees < expected - diff)
  {
    degrees=MotorTachoCount(OUT_A);
    diff = degrees - lastReading;
    lastReading = degrees;
    //NumOut(0, LCD_LINE4, diff);
    //NumOut(0, LCD_LINE5, degrees);
  }
  Off(OUT_A);
  //NumOut(0, LCD_LINE6, MotorTachoCount(OUT_A));
  //Wait(1000);
  //NumOut(0, LCD_LINE7, MotorTachoCount(OUT_A));
    }

  //Wait(5000);
}