/** * Running to 20cm of ligth * but escape obstacle with bumpers */ void go_light_stop_touch() { int bmp; _mode_light_ = GO_LIGHT; _motor_initial_speed_ = 100; light_environnement(); start_process(go_light_stop(20)); while(_go_light_touch_running_) { bmp = bumper_detection(); if(bmp != 0 && (bmp != BMP_BACK)) { stop_process(_go_light_stop_running_); wait_process(_go_light_stop_running_); escape(bmp); start_process(go_light_stop(20)); } } stop_process(_go_light_stop_running_); wait_process(_go_light_stop_running_); _go_light_touch_running_ = -1; }
void main() { light_environnement(); init_motors(); _motor_initial_speed_ = 50; _mode_light_ = GO_LIGHT; go_light_touch(); }
void main() { init_motors(); _mode_light_ = GO_LIGHT; light_environnement(); _motor_initial_speed_ = 50; go_light_stop(20); }