int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
int i;
Wait(1000);
for(i=0; i<N; i++)
{
go(length);
if(is_black_right()){
left_turn(2);
} else if(is_black_left()){
right_turn(2);
}
if(is_black()) {
break;
}
}
stop();
tyarumera();
return 0;
}
bool
Vertex_visibility_graph_2<Traits>::diagonal_in_interior(
const Polygon& polygon,
Polygon_const_iterator p,
Polygon_const_iterator q)
{
Turn_reverser<Point_2, Left_turn_2> right_turn(left_turn_2);
Polygon_const_iterator before_p;
if (p == polygon.begin())
before_p = polygon.end();
else
before_p = p;
before_p--;
Polygon_const_iterator after_p = p; after_p++;
if (after_p == polygon.end()) after_p = polygon.begin();
if (right_turn(*before_p, *p, *after_p))
{
if (right_turn(*before_p, *p, *q) && right_turn(*q, *p, *after_p))
return false;
}
else // left turn or straight at vertex
{
/*
// p should not be able to see q through its own edge
if (are_strictly_ordered_along_line(*p, *after_p, *q))
return false;
*/
if (right_turn(*before_p, *p, *q) || right_turn(*q, *p, *after_p))
return false;
}
return true;
}
void hull_add_point(point_vector* vp, point* p)
{
if (vp->size > 1)
{
while (!right_turn(&(vp->array[vp->size - 2]), &(vp->array[vp->size - 1]), p))
{
vp->size--;
if (vp->size == 1)
break;
}
}
point_vector_push_back(vp, p);
}
void main(void)
{
vInitialize();
myInit();
while(!pushsw_get())
{
if(cnt1<100)
led_out(0x1);
else if(cnt1<200)
led_out(0x2);
else cnt1 = 0;
}
cnt1 = 0;
while(startbar_get())
{
if(cnt1<50)
led_out(0x1);
else if(cnt1<100)
led_out(0x2);
else cnt1 = 0;
}
led_out(0);
start();
pattern = 10;
while(1)
{
switch(pattern)
{
case 10: //直线
if(check_crossline()){ pattern = 30;break; }
if(check_blackArea()){ pattern = 40;break; }
straight_run(); //直线前行，弯道检测，盲区检测
break;
case 20: //弯道
switch(turn_direction)
{
case LEFT:
handle(-1*midDegree_st4);
left_turn();
break;
case RIGHT:
handle(midDegree_st4);
right_turn();
break;
default:break;
}
break;
case 30: //直角
rightAngle();
break;
case 40: //盲区
switch(blackArea_direction)
{
case LEFT:
left_blackArea();
break;
case RIGHT:
right_blackArea();
break;
default:break;
}
break;
default:break;
}//end switch
}//end while
}
