task main() {
clearLCDLine(0);
clearLCDLine(1);
displayLCDPos(0, 0);
displayNextLCDString("Titties");
nVolume = 4;
#ifndef NOSOUND
PlaySoundFile(SONGNAME);
#endif
resetVars(); // reset all variables
resetSensors(); // reset all sensors
#ifndef NOAUTON
AutoSelector();//run the RedFront autonomous
Autonomous();
#endif
AutoRedPost();
while (true) {
#ifndef NOSOUND
if (bSoundQueueAvailable) {
PlaySoundFile(SONGNAME);
}
#endif
RC(); // recieve inputs
calcMotorValues();
//writeStream();
//beltPower = 127;
RunRobot();
}
}
int main() {
int r;
#if GRAPHICS
struct Button *but,*button;
boolean quit=FALSE;
context = (struct Context *)malloc(sizeof(struct Context));
but= context->Buttons= CreateButton(RUN_BUTTON,"RUN/STOP",WINDOW_W-50,WINDOW_H-90);
but= but->Next=CreateButton(DISPLAY_RATE_UP_BUTTON,"+",WINDOW_W-40,WINDOW_H-60);
but= but->Next=CreateButton(DISPLAY_RATE_DOWN_BUTTON,"-",WINDOW_W-60,WINDOW_H-60);
but= but->Next=CreateButton(QUIT_BUTTON,"QUIT",WINDOW_W-50,WINDOW_H-30);
display_rate=1L;
OpenGraphics();
#endif
robots = (struct Robot **)malloc(NR*sizeof(struct Robot*));
for (r=0;r<NR;r++) {
robots[r] = (struct Robot *)malloc(sizeof(struct Robot));
}
InitFiles();
InitGlobal();
for (r=0;r<NR;r++) {
InitRobot(r,robots[r]);
}
#if GRAPHICS
while(quit == FALSE) {
button=PressButton(context);
switch(button->Value) {
case QUIT_BUTTON:
quit = TRUE;
break;
case DISPLAY_RATE_UP_BUTTON:
display_rate*=10L;
if (display_rate>100000L) display_rate=100000L;
display_rate-=display_rate%10L;
if (display_rate<1L) display_rate=1L;
DrawWindow(context);
break;
case DISPLAY_RATE_DOWN_BUTTON:
if (display_rate>9L) display_rate/=10L;
display_rate-=display_rate%10L;
if (display_rate<1L) display_rate=1L;
DrawWindow(context);
break;
case RUN_BUTTON:
#endif
do {
for (r=0;r<NR;r++) {
RunRobot(r,robots[r]);
EvalRobot(t,r,robots[r]);
}
t++;
if (t>TM) {
#if GRAPHICS
CloseGraphics();
#endif
return(1);
exit(1);
}
#if GRAPHICS
if (t%display_rate==0L) {
DrawWindow(context);
#if DISTY*(DISTY-2)
if (t%(250L*display_rate)==0L) {
DrawPlate(0,0,WINDOW_W-1,WINDOW_H-1,BLACK,PLATE_UP);
}
#endif
}
#endif
}
#if GRAPHICS
while (UnpressButton(context,button)==FALSE);
break;
#else
while (TRUE);
#endif
#if GRAPHICS
}
button->State = PLATE_UP;
}
CloseGraphics();
#endif
return(1);
}
