void AvoidObstacle()
{
void TouchBar();
mouseMode = MOUSE_MODE_OBSTACLE_AVOIDING;
for (;;) {
// first move forward
if (infraredFrontLeft && infraredFrontRight) {
// both touched; reverse
ControlMouse(MOUSE_ACTION_STOP);
Delay(100);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(180);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(180);
//TouchBar();
}
else if (infraredFrontLeft && !infraredFrontRight) {
// left sensor detects; avoid left obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(100);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(180);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(180);
//TouchBar();
}
else if (!infraredFrontLeft && infraredFrontRight) {
// right sensor detects; avoid right obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(100);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(180);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(180);
//TouchBar();
}
else {
ControlMouse(MOUSE_ACTION_FORWARD);
//TouchBar();
}
}
// end of for() loop
}
/*void TouchBar(){
if (touchBarFrontLeft && !touchBarFrontRight) {
// left bar is touched; avoid left obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(100);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(180);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(180);
}
else if (!touchBarFrontLeft && touchBarFrontRight) {
// right bar is touched; avoid right obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(100);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(180);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(180);
}
else if (touchBarFrontLeft && touchBarFrontRight) {
// both bars are touched; avoid front obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(100);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(180);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(180);
}// 180 dgree turn
else {
ControlMouse(MOUSE_ACTION_FORWARD);
}
}
*/
void LineFollowing ()
{
mouseMode = MOUSE_MODE_OBSTACLE_AVOIDING;
for (;;) {
ADC1SC1 = 0; /*PTD0/AD0 for ADC*/
while(ADC1SC1_COCO == 0){ //test coco bit
}
if( ADC1RL > THRESH0){
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(10);
}
else if (ADC)
{
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(10);
}
else {
ControlMouse(MOUSE_ACTION_FORWARD); // 180 dgree turn
}
} // end of for() loop
}
// simple test mode for testing functions
void Test()
{
int opDelay = 10000;
while (1) {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(opDelay);
/*
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(opDelay);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(opDelay);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(opDelay);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(opDelay);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(opDelay);
ControlMouse(MOUSE_ACTION_STOP);
Delay(opDelay);
*/
}
}
void Combat()
{
// fill your code here for the combat mode
byte fl,fr,rl,rr;
byte fl_max,fl_min,fr_max,fr_min,rl_max,rl_min,rr_max,rr_min;
byte flTH=0,frTH,rlTH,rrTH; //ldr thresholds
byte tbfl, tbfr, tbrl, tbrr;
byte tmp=0; // ldr adc variables
byte black=0;
byte white=1;
// speed control
pwLeft = 75;//(word)(0.8*defaultSpeed);
pwRight =75;//(word)(0.8*defaultSpeed);
while(tmp==0){
// threshold
if (touchBarFrontLeft) {
// on the white surface
fl_max = ADCRead(0x00);
fr_max = ADCRead(0x01);
rl_max = ADCRead(0x02);
rr_max = ADCRead(0x03);
while (touchBarFrontLeft) {
}
// on the black surface
fl_min = ADCRead(0x00);
fr_min = ADCRead(0x01);
rl_min = ADCRead(0x02);
rr_min = ADCRead(0x03);
tmp=1;
}
}
flTH = (byte)((fl_max + fl_min)/2.0);
frTH = (byte)((fr_max + fr_min)/2.0);
rlTH = (byte)((rl_max + rl_min)/2.0);
rrTH = (byte)((rl_max + rr_min)/2.0);
//}
mouseMode = MOUSE_MODE_COMBAT;
for (;;) {
// ADC
tmp = ADCRead(0x00);
fl = tmp < flTH ? 0 : 1; // 1 -> white; 0 -> black
tmp = ADCRead(0x01);
fr = tmp < frTH ? 0 : 1;
tmp = ADCRead(0x02);
rl = tmp < rlTH ? 0 : 1;
tmp = ADCRead(0x03);
rr = tmp < rrTH ? 0 : 1;
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
tbrr = touchBarRearRight;
tbrl = touchBarRearLeft;
if (!infraredFrontLeft && !infraredFrontRight && !infraredRearLeft && !infraredRearRight) {
if (fl == 1 && fr == 1 && rl == 1 && rr == 1 ) {
// default
while ((tbfl == 1) || (tbfr == 1)) {
// back off
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
}
if ((tbrl == 1) || (tbrr == 1)) {
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(50);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(25);
} else {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
} else if (fl == 0 || fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(100);
} else if (rl == 0 || rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
/*else {
// both bars are touched; avoid front obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNAROUND); // 180 dgree turn
}*/
ControlMouse(MOUSE_ACTION_FORWARD);
} else if (!infraredFrontLeft && infraredFrontRight) {
if (fl == 1 && fr == 1 && rl == 1 && rr == 1 ) {
// default
while ((tbfl == 1) || (tbfr == 1)) {
// back off
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
}
if ((tbrl == 1) || (tbrr == 1)) {
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(50);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(25);
} else {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
} else if (fl == 0 || fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(100);
} else if (rl == 0 || rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(200);
/*else {
// just for TEST!
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
} */
} else if (infraredFrontLeft && !infraredFrontRight) {
if (fl == 1 && fr == 1 && rl == 1 && rr == 1 ) {
// default
while ((tbfl == 1) || (tbfr == 1)) {
// back off
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
}
if ((tbrl == 1) || (tbrr == 1)) {
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(50);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(25);
} else {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
} else if (fl == 0 || fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(100);
} else if (rl == 0 || rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
//ControlMouse(MOUSE_ACTION_REVERSE);
//Delay(200);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(200);
} else if (infraredFrontLeft && infraredFrontRight) {
if (fl == 1 && fr == 1 && rl == 1 && rr == 1 ) {
// default
while ((tbfl == 1) || (tbfr == 1)) {
// back off
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
}
if ((tbrl == 1) || (tbrr == 1)) {
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(50);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(25);
} else {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
} else if (fl == 0 || fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(100);
} else if (rl == 0 || rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
//ControlMouse(MOUSE_ACTION_REVERSE);
//Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(200);
} else if (infraredRearLeft && infraredRearRight) {
if (fl == 1 && fr == 1 && rl == 1 && rr == 1 ) {
// default
while ((tbfl == 1) || (tbfr == 1)) {
// back off
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
}
if ((tbrl == 1) || (tbrr == 1)) {
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(50);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(25);
} else {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
} else if (fl == 0 || fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(100);
} else if (rl == 0 || rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(500);
// ControlMouse(MOUSE_ACTION_REVERSE);
//Delay(200);
// ControlMouse(MOUSE_ACTION_FORWARD);
//Delay(200);
} else if (infraredRearLeft && !infraredRearRight) {
if (fl == 1 && fr == 1 && rl == 1 && rr == 1 ) {
// default
while ((tbfl == 1) || (tbfr == 1)) {
// back off
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
}
if ((tbrl == 1) || (tbrr == 1)) {
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(50);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(25);
} else {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
} else if (fl == 0 || fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(100);
} else if (rl == 0 || rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(500);
//ControlMouse(MOUSE_ACTION_REVERSE);
//Delay(200);
//ControlMouse(MOUSE_ACTION_TURNLEFT);
//Delay(200);
} else if (!infraredRearLeft && infraredRearRight) {
if (fl == 1 && fr == 1 && rl == 1 && rr == 1 ) {
// default
while ((tbfl == 1) || (tbfr == 1)) {
// back off
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(200);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
tbfl = touchBarFrontLeft;
tbfr = touchBarFrontRight;
}
if ((tbrl == 1) || (tbrr == 1)) {
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(50);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(25);
} else {
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
} else if (fl == 0 || fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(100);
} else if (rl == 0 || rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
ControlMouse(MOUSE_ACTION_FORWARD);
Delay(25);
}
ControlMouse(MOUSE_ACTION_TURNAROUND);
Delay(500);
//ControlMouse(MOUSE_ACTION_REVERSE);
//Delay(200);
//ControlMouse(MOUSE_ACTION_TURNRIGHT);
//Delay(200);
}
else {
// both bars are touched; avoid front obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNAROUND); // 180 dgree turn
}
} // end of for()
}
void AvoidObstacle()
{
mouseMode = MOUSE_MODE_OBSTACLE_AVOIDING;
for (;;) {
// first move forward
ControlMouse(MOUSE_ACTION_FORWARD);
// first, check the status of touch bars
if (!touchBarFrontLeft && !touchBarFrontRight && !touchBarRearLeft && !touchBarRearRight) {
ControlMouse(MOUSE_ACTION_FORWARD);
// neither is touched (i.e., both the values are zero)
// then check the status of IF sensors
if (!infraredFrontLeft && !infraredFrontRight) {
// neither is touched (i.e., both the values are zero)
// then, back to the loop
ControlMouse(MOUSE_ACTION_FORWARD);
}
else if (infraredFrontLeft && !infraredFrontRight) {
// left sensor detects; avoid left obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(300);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(300);
}
else if (!infraredFrontLeft && infraredFrontRight) {
// right sensor detects; avoid right obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(300);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(300);
}
else {
// both sensors detect; avoid front obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNAROUND); // 180 dgree turn
}
}
else if (!touchBarFrontLeft && touchBarFrontRight) {
// left bar is touched; avoid left obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(500);
}
else if (touchBarFrontLeft && !touchBarFrontRight) {
// right bar is touched; avoid right obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(500);
}
else if (!touchBarRearLeft && touchBarRearRight) { //test for left
// left bar is touched; avoid left obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(500);
}
else if (touchBarRearLeft && !touchBarRearRight) { //test for right
// right bar is touched; avoid right obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(500);
}
else {
// both bars are touched; avoid front obstacle
ControlMouse(MOUSE_ACTION_STOP);
Delay(500);
ControlMouse(MOUSE_ACTION_REVERSE);
Delay(500);
ControlMouse(MOUSE_ACTION_TURNAROUND); // 180 dgree turn
}
} // end of for() loop
}
void LineFollowing ()
{
//#define black 1
//#define white 0
byte fl,fr,rl,rr;
byte fl_max,fl_min,fr_max,fr_min,rl_max,rl_min,rr_max,rr_min;
byte flTH=0,frTH,rlTH,rrTH; //ldr thresholds
byte tmp=0; // ldr adc variables
byte black=0;
byte white=1;
// speed control
pwLeft = (word)(0.6*defaultSpeed);
pwRight = (word)(0.6*defaultSpeed);
while(tmp==0){
// threshold
if (touchBarFrontLeft) {
// on the white surface
fl_max = ADCRead(0x00);
fr_max = ADCRead(0x01);
rl_max = ADCRead(0x02);
rr_max = ADCRead(0x03);
while (touchBarFrontLeft) {
}
// on the black surface
fl_min = ADCRead(0x00);
fr_min = ADCRead(0x01);
rl_min = ADCRead(0x02);
rr_min = ADCRead(0x03);
tmp=1;
}
}
flTH = (byte)((fl_max + fl_min)/2.0);
frTH = (byte)((fr_max + fr_min)/2.0);
rlTH = (byte)((rl_max + rl_min)/2.0);
rrTH = (byte)((rl_max + rr_min)/2.0);
//}
mouseMode = MOUSE_MODE_LINE_FOLLOWING;
for (;;) {
// ADC
tmp = ADCRead(0x00);
fl = tmp < flTH ? 0 : 1; // 1 -> white; 0 -> black
tmp = ADCRead(0x01);
fr = tmp < frTH ? 0 : 1;
tmp = ADCRead(0x02);
rl = tmp < rlTH ? 0 : 1;
tmp = ADCRead(0x03);
rr = tmp < rrTH ? 0 : 1;
if (fl == 1 && fr == 1 && rl == 0 && rr == 0 ) {
ControlMouse(MOUSE_ACTION_FORWARD);
}
//start here
else if (fl == 0 && fr == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
//Delay(5);
} else if (fl == 1 && fr == 0) {
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNLEFT);
//Delay(5);
} else if (rl == 1 && rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
//Delay(5);
} else if (rl == 0 && rr == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNLEFT);
//Delay(5);
} else if (fr == 0 && rl == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
//Delay(5);
} else if (fl == 0 && fr == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNLEFT);
//Delay(5);
}
else if (fl == 0 && fr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(50);
}
else if (fl == 0 && fr == 0 && rl == 1 && rr == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(100);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(50);
} else if (fl == 0 && fr == 0 && rl == 1 && rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(5);
} else if (fl == 0 && fr == 0 && rl == 0 && rr == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(50);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(5);
} else if (fl == 1 && fr == 0 && rl == 1 && rr == 0){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(5);
} else if (fl == 0 && fr == 1 && rl == 1 && rr == 0){
ControlMouse(MOTOR_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(5);
} else if (fl == 0 && fr == 1 && rl == 1 && rr == 1){
ControlMouse(MOTOR_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(5);
} else if (fl == 0 && fr == 1 && rl == 0 && rr == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(1);
ControlMouse(MOUSE_ACTION_TURNRIGHT);
Delay(5);
} else if (fl == 1 && fr == 1 && rl == 0 && fr == 1){
ControlMouse(MOUSE_ACTION_BRAKE);
Delay(4);
ControlMouse(MOUSE_ACTION_TURNLEFT);
Delay(5);
}
else
{
ControlMouse(MOUSE_ACTION_FORWARD) ;
}
//end here
}// end of for() loop;
}