void found_something(){
ao();
camera_update();
msleep(100);
camera_update();
msleep(100);
camera_update();
msleep(100);
while(get_object_bbox(0,0).width < 80){
camera_update();
if(get_object_center(0,0).x > 120)
{
motor(Motor_Left,Drivespeed_middle/2);
motor(Motor_Right,-Drivespeed_middle/2);
camera_update();
} else if(get_object_center(0,0).x < 70) {
motor(Motor_Left,-Drivespeed_middle/2);
motor(Motor_Right,Drivespeed_middle/2);
camera_update();
} else {
motor(Motor_Left,Drivespeed_middle/2);
motor(Motor_Right,Drivespeed_middle/2);
camera_update();
}
msleep(5);
}
freeze(Motor_Left);
freeze(Motor_Right);
claw_close();
msleep(1000);
claw_up();
}
void bordercross()
{
float sec1 = seconds();
float sec2;
float sec3;
claw_up();
sleep(0.5);
toTouch(500);
sleep(0.2);
reverseT(500, 0.5);
sleep(1);
CCW();
sleep(1);
forwardT(1000, 3);
sleep(0.5);
CCW();
reverseT(500, 1);
sec2 = seconds();
sec3 = sec2 - sec1;
while (sec3 < 15)
{
sec2 = seconds();
sec3 = sec2 - sec1;
}
beep();
forwardT(1000, 6);
sleep(0.3);
claw_down();
sleep(1);
if(IR_left > threshold && IR_right > threshold)
{
while (1)
{
ao();
}
}
sleep(1);
claw_up();
sleep(0.5);
reverseT(500, 1.5);
sleep(1);
}
int main(){
claw_init();
while(1){
WAIT(a_button());
msleep(300);
WAIT(!a_button());
claw_down();
msleep(300);
claw_up();
}
}
void bringback2cube(){
//claw up
motor(Motor_Up,Motor_up_speed);
//zurück 1s
drive(1000,-Drivespeed,-Drivespeed);
//turn right 90
drive(970,Turnspeed,-Turnspeed);
//vor to calibrate
drive(1000,Drivespeed,Drivespeed);
//back
drive(500,-Drivespeed,-Drivespeed);
//turn so little bit b4 cubes
drive(1130,Turnspeed,-Turnspeed);
//vor
drive(900,Drivespeed,Drivespeed);
//wait for claw up
claw_up();
//camera fix
camera_update();
//hide your cubes
cube_is_near();
//back
drive(1000,-Drivespeed,-Drivespeed);
//turn left more than 90 idk
drive(1330,-Turnspeed,Turnspeed);
//start to down motor
motor(Motor_Up,Motor_down_speed);
//vor to calibrate
drive(1000,Drivespeed,Drivespeed);
//langsamer weil wackeldackel
drive(2000,Drivespeed_middle+20,Drivespeed_middle+20);
//back
drive(400,-Drivespeed,-Drivespeed);
//turn more than 90 lulz
drive(980,-Turnspeed,Turnspeed);
//light left and shit
drive(5000,Drivespeed_middle*2,(Drivespeed_middle*2)-7);
//light back and shit
drive(1000,-Drivespeed_middle*2,(-Drivespeed_middle*2)+7);
//wait for claw down
while(!digital(Sensor_Down)){
if(seconds()>start+113){
claw_open();
disable_servos();
}
}
freeze(Motor_Up);
msleep(2000);
claw_open();
disable_servos();
}
void biofuel_block()
{
CW();
sleep(0.5);
forwardT(500, 3.2);
sleep(0.5);
claw_down();
sleep(0.5);
turnStraight(500, 250);
sleep(0.1);
claw_up();
forwardT(100, 2);
sleep(1);
CCW();
forwardT(300, 2.5);
sleep(0.1);
patrol();
}
