int yoyo(int yo_inches)
{
int yo_clicks = yo_inches * 2; /* Approx relationship between clicks and inches */
while(1)
{
if (bumper() == 0b100) /* Bumper was hit from the back */
{
track(90,0,yo_inches); /* Go out */
track(-90,0,yo_inches); /* Come back */
sleep(0.5); /* Wait a moment in case bumper is vibraiting */
}
}
}
int main(void)
{
Periphery(); //настройка периферии
//главный цикл программы
while(1)
{
button();
cycle();
drive();
cleaner();
bumper();
led();
}
}
void follow()
{ int ir = 0; /* Local var for obstacle infrared data */
int bmp = 0; /* Local var for bumper data */
int old_bmp = 0; /* Local var for bmp on previous iteration */
printf("Follow\n"); /* Print message on LCD screen */
while(1)
{ ir = ir_detect(); /* Record IR obstacle detection sensor */
bmp = bumper() && 0b011; /* Only consider Left or Right collision */
if (old_bmp & (! bmp)) /* Collision just ended */
sleep(0.5); /* Wait a bit before following */
else if (bmp) /* If bumper is pressed... */
stop(); /* Stay right here */
else if (ir == 0) /* Don't know which way to go, so stop */
stop(); /* Stay right here */
else if (ir == 0b11) /* Object straight a head */
driveb(fol_trans_def,0); /* Race forward */
else if (ir == 0b01) /* Object on right */
driveb(fol_trans_def,(- fol_rot_def)); /* Arc to the right */
else if (ir == 0b10) /* Object on left */
driveb(fol_trans_def,fol_rot_def); /* Arc to the left */
sleep(0.1); /* Debounce bumper */
old_bmp = bmp;
}
}
