#include <stdio.h>

#define CONNECT create_connect();

#define STOP create_stop();

#define DISCONNECT create_disconnect();

#define MSLEEP msleep

#define SLEEP sleep

#define DRIVE create_drive_straight

#define TURN create_drive_direct

#define SUPER_FAST 1000

#define FAST 500

#define ARM_UP 724

#define ARM_DOWN 1800

#define C_C 1024

#define C_O 0

int main()

{

printf("checklist");

printf("hit black button when ready");

while(black_button());

printf("MAKE SURE CREATE IS ON!!!!!!!!");

while(!black_button());

printf("MAKE SURE ARM IS IN DOWN POSITION!!!!!!!!");

while(!black_button());

printf("MAKE SURE ARM AND CLAW WORK");

while(!black_button());

printf("CHECK POSITION OF CLAW AND ARM");

while(!black_button());

printf("MAKE SURE LIGHT SENSORT IS CALIBRATED");

while(!black_button());

// this starts the robot SECTion 1

wait_for_light(0);

shut_down_in(120.0);

//this shuts the robot down after 120.0 seconds

while(create_connect());

//connects create to cbc

set_servo_position(3, 0);

set_servo_position(0, 1800);

enable_servos();

msleep(500);

create_full();

//section 2

create_drive_direct(SUPER_FAST, SUPER_FAST);

msleep(1646);

//leave beach

create_stop();

msleep(300);

create_drive_direct(SUPER_FAST, -SUPER_FAST);

msleep(435);

//turn towards center

create_stop();

msleep(300);

create_drive_direct(SUPER_FAST, SUPER_FAST);

msleep(1600);

//move towards botguy

create_stop();

msleep(500);

//section 3

set_servo_position(0, 1424);

msleep(1800);

set_servo_position(0, 1100);

msleep(1800);

set_servo_position(0, 924);

msleep(1800);

set_servo_position(0, 724);

msleep(1800);

set_servo_position(3, 1024);

msleep(1800);

set_servo_position(0, 924);

msleep(1800);

set_servo_position(0, 1100);

msleep(1800);

set_servo_position(0, 1200);

msleep(2000);

//retrieve botguy

//section 4

create_drive_direct(-FAST, FAST);

msleep(445);

create_stop();

create_drive_direct(-FAST, -FAST);

msleep(2000);

create_stop();

create_drive_direct(FAST, -FAST);

msleep(445);

create_stop();

create_drive_direct(-FAST, -FAST);

msleep(900);

create_stop();

msleep(1600);

create_stop();

set_servo_position(3, 0);

set_servo_position(0, 1800);

msleep(1200);

set_servo_position(0, 1200);

msleep(1000);

set_servo_position(0, 1800);

msleep(1000);

create_drive_direct(1000, 1000);

msleep(800);

create_drive_direct(-1000, -1000);

msleep(800);

DRIVE(SUPER_FAST);

MSLEEP(800);

TURN(-SUPER_FAST, SUPER_FAST);

MSLEEP(460);

DRIVE(SUPER_FAST);

MSLEEP(1380);

TURN(SUPER_FAST, -SUPER_FAST);

MSLEEP(425);

DRIVE(SUPER_FAST);

SLEEP(1.5);

while(get_create_lbump(0.01) == 0)

{

DRIVE(SUPER_FAST);

}

TURN(-SUPER_FAST, SUPER_FAST);

MSLEEP(435);

TURN(SUPER_FAST, 975);

MSLEEP(500);

while(get_create_rbump(0.01) == 0)

{

TURN(SUPER_FAST, 990);

}

create_stop();

create_disconnect();

}