// Looks for any of the red buoy, green buoy, or force field emitted by the home base
// If the Create is in explore mode, remember and display the zone of the victim
// If the Create is in return mode, play a song and display victim found ('V'), and clear victim zone
void lookForVictim()
{
ser_putch(142);
ser_putch(17);
char victim = ser_getch();
if(victim > 241 && victim != 255)
{
if(goingHome)
{
__delay_ms(1000);
play_iCreate_song(3);
__delay_ms(500);
victimZone = 0;
lcd_set_cursor(0x09);
lcd_write_data('V');
xVictim = xCoord;
yVictim = yCoord;
}
else
{
xVictim = xCoord;
yVictim = yCoord;
victimZone = getVictimZone(xCoord, yCoord);
lcd_set_cursor(0x08);
lcd_write_1_digit_bcd(victimZone);
}
}
}
void ser_puthex(unsigned char v)
{
unsigned char c;
c = v >> 4;
if (c>9) {
ser_putch('A'-10+c);
} else {
ser_putch('0'+c);
}
c = v & 0x0F;
if (c>9) {
ser_putch('A'-10+c);
} else {
ser_putch('0'+c);
}
}
void ser_puts2(unsigned char * s)
{
while(*s)
ser_putch(*s++);
}
void ser_puts(const unsigned char * s)
{
while(*s)
ser_putch(*s++);
}
void initIRobot()
{
__delay_ms(100);
ser_putch(128);
ser_putch(132);
}
void play_iCreate_song(unsigned char song)
{
ser_putch(141);
ser_putch(song);
}