task main() {
float pointDistance[] = { 19.0, 10.0, 19.0, 10.0 };
float totalDistance = 0.0;
int i;
startRobot();
waitForStart();
if (PLAY_SOUNDS == true) {
PlaySound(soundBeepBeep);
}
if (WAIT_FOR_START == true) {
wait1Msec(START_DELAY);
}
// Connor's portion
for (i = 0; i < 4; i++) {
if (i == 0 && ALT_ROUTE == true) {
driveDistance(ALT_DISTANCE1, FORWARD, ADJ_NO);
turnRobot(ALT_DEGREES, FORWARD, TURNTYPE_A);
driveDistance(ALT_DISTANCE2, REVERSE, ADJ_NO);
}
else {
driveDistance(pointDistance[i], DIRECTION_A, ADJ_YES);
}
totalDistance += pointDistance[i];
if (QUICK_ROUTE == true || i == 3 || readIR(i+1) == true) {
wait1Msec(250);
servo[blockServo] = 80;
servo[flagServo] = 65;
wait1Msec(500);
servo[blockServo] = 254;
servo[flagServo] = 65;
wait1Msec(250);
break;
}
}
// Devan's portion
if (DIRECTION_A == DIRECTION_B) {
driveDistance(CULM_DISTANCE - totalDistance, DIRECTION_B, ADJ_YES);
}
else {
driveDistance(totalDistance - 6.5, DIRECTION_B, ADJ_NO);
}
turnRobot(TURN_DEGREES_B, DIRECTION_B, TURNTYPE_B);
driveDistance(35.0, DIRECTION_B, ADJ_NO);
turnRobot(TURN_DEGREES_B, DIRECTION_B, TURNTYPE_B);
driveDistance(PARK_DISTANCE, DIRECTION_B, ADJ_NO);
if (PLAY_SOUNDS == true) {
PlaySound(soundBeepBeep);
wait1Msec(500);
}
}
/************************************************************
* robot -
*/
int robot( char cmd, int index )
{
int stat;
if (stat = startRobot( cmd, index ))
{
fprintf(stdout,"ERROR%d\n", stat);
fflush(stdout);
return (stat);
}
if (stat = cmdAck(serialPort,600)) /* 10 min to timeout */
{
fprintf(stdout,"ERROR%d\n", stat);
fflush(stdout);
return(stat);
}
return (0); /* nicely DONE */
}
