int main(void)
{
int x;
int y;
int z;
x = get_int_from_user();
y = get_int_from_user();
z = compute(x, y);
return z;
}
int main()
{
init_sensors();
int SET_POINT_VALUE = get_int_from_user("SetPnt=?", 20, 5);
int END_POINT_VALUE = get_int_from_user("EndPnt=?", 145, 1);
wait_with_message("Press B");
count_down(2);
int front = 0;
int left = 0;
int right = 0;
int balance = 0;
int left_speed = 0;
int right_speed = 0;
int set_point = 0;
while(1)
{
left = analog_read(6);
right = analog_read(5);
front = analog_read(7);
balance = 0;
if (left > 20 || right > 20)
{
balance = right - left - 20;
}
if(front < SET_POINT_VALUE)
{
left_speed = 110 - (1.0 * 0.54838709677419354838709677419355 * front);
right_speed = 110 - (1.0 * 0.54838709677419354838709677419355 * front);
}
else
{
while(left_speed > 25 || right_speed > 25)
{
left_speed--;
right_speed--;
set_motors(left_speed + balance,right_speed - balance);
play_frequency(200, 50, 14);
}
}
if (set_point == 0 && front > END_POINT_VALUE)
{
set_point = 1;
set_motors(25,25);
}
else
{
set_motors(left_speed + balance,right_speed - balance);
}
if (set_point == 1 && front < END_POINT_VALUE)
{
break;
}
}
halt();
clear();
print("f=");
print_long(front);
// end
while(1);
}
