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motor_control010.c
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motor_control010.c
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//motor_control009.c //name and version of the code
#include "sumovore.h" //header which has preset functions for LED and Sumobot in general
#include "motor_control.h" //header containing motor functions.
#include <delays.h> //to implement delays in the function.
void spin_left(void); //spins the robot left on center axis.
void turn_left(void); //turns the robot left.
void straight_fwd(void); //makes the robot go straight.
void turn_right(void); //turns the robot right
void spin_right(void); //spins the robot left on center axis.
void Check_Gaps(void); //check for gaps in the track.
void right_right_angle_turns(void); //turns the robot right by 90 degrees.
void left_right_angle_turns(void); //turns the robot left by 90 degrees.
void sharp_right_turns(void); //for sharp right turns (the angle is less than 90 degrees.)
void sharp_left_turns(void); //for sharp left turns (the angle is less than 90 degrees.)
void merge_right(void); //merges to a track on the robot's right.
void merge_left(void); //merges to a track on the robot's left.
void final_ends(void); //the final action the robot will take when it reaches the end line. (stops the robot.)
//added this
void interruptions_left(void);
void motor_control(void) //Different scenerios that will light up the LEDs in a certain way,
//and the motor reactions to the scenarios.
{
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) straight_fwd(); //00100
else if (SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) spin_left(); //10000
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) spin_left(); //11000
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) turn_left(); //01000
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) turn_left(); //01100
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) turn_right();//00010
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) turn_right(); //00110
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&SeeLine.b.Right) spin_right();//00001
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) spin_right(); //00011
else if ( (SeeLine.B ) == 0b00000u) Check_Gaps(); //00000 //all LEDs OFF
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) right_right_angle_turns(); //00111
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) left_right_angle_turns(); //11100
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&SeeLine.b.Right) sharp_right_turns(); //00101
else if (SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) sharp_left_turns(); //10100
else if (SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) merge_right(); //10010
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&SeeLine.b.Right) merge_left(); //01001
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) merge_right(); //11010
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) merge_left(); //01011
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) final_ends(); //11111 //all LEDs ON
}
void spin_left(void) // to spin left
{
set_motor_speed(left, rev_fast, 0); //left wheel goes reverse //wheels move in opposite direction
set_motor_speed(right, fast, 0); //right wheel goes straight //to spin the robot right on center axis.
}
void turn_left(void) // to turn left
{
set_motor_speed(left, medium, 0); //left wheel medium down (for prev. versions, left wheel stops.)
set_motor_speed(right, fast, 0); //right wheel maintains fast speed
}
void straight_fwd(void) // to move forward
{
set_motor_speed(left, fast, 0); // both left wheel and //-40 for motor adjustment to match
set_motor_speed(right, fast, -40); // right wheel moves fast //speed of both wheels
}
void spin_right(void) // to spin left
{
set_motor_speed(left, fast, 0); //left wheel goes straight //wheels move in opposite direction
set_motor_speed(right, rev_fast, 0); //right wheels goes reverse //to spin the robot left on center axis
}
void turn_right(void) //to turn right
{
set_motor_speed(left, fast, 0); //left wheel maintains fast speed
set_motor_speed(right, medium, 0); //right wheels medium down (for prev. versions, right wheel stops.)
}
void merge_right(void) //not merging left <--------- don't know what this is supposed to be
{
set_motor_speed(left, fast, 0); //NOTE:: this is the same as turn right in v004
set_motor_speed(right, stop, 0); //NOTE:: this is the same as turn right in v004
}
void merge_left(void) //not merging right <-------- don't know what this is supposed to be
{
set_motor_speed(left, stop, 0); //NOTE:: this is the same as turn left
set_motor_speed(right, fast, -40);//NOTE:: this is the same as turn left (also, -40 for motor adjustment)
}
//************* CHECK GAPS *************//
void Check_Gaps(void) //checks gaps and makes a 180 degree turn after going about 8cm (needs to be exact.)
{
int sensor_check = 0; //variable sensor check
for(sensor_check; sensor_check < 10; sensor_check++) //executes 20 times, looking for gaps in each count.
{
check_sensors(); //constantly keeps checking for LED combinations
if ( (SeeLine.B ) == 0b00000u) //all LEDs OFF
{
straight_fwd(); //go straight
Delay10KTCYx(20); //0.025s OR 25ms.
if( sensor_check == 9) //last condition
{
turn_180 ();
straight_fwd();
}
}
else
{
sensor_check = 9;
}
}
}
//*****************RIGHT RIGHT ANGLE TURN********************//
void right_right_angle_turns(void) //right right angle turns, if-else cases cover sharp turns as well
{
straight_fwd();
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if ( (SeeLine.B ) == 0b00000u) //all LEDs OFF.
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //while all off; 00000
{
spin_right(); //spins the robot right.
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) //00010
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors();
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins the robot right.
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) //01110
{
straight_fwd(); //Go straight.
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //Rotates Right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00100
{
straight_fwd(); //Go straight.
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //contantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right) //00110
{
straight_fwd(); //Go straight.
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //Rotates right.
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
//*************************LEFT RIGHT ANGLE TURN*****************************//
void left_right_angle_turns(void) //left right angle turns, if else cases cover sharp turns aswell
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if ( (SeeLine.B ) == 0b00000u) //all LEDS OFF
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01000
{
straight_fwd();
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors();
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004).
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//01110
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004).
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00100
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004).
check_sensors(); //constantly keeps checking to see LED combinations. }
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01100
{
straight_fwd(); //go straight
Delay10KTCYx(50); //Changed from Delay10KTCYx(25); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spins right in v004);
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
}
//***************************SHARP RIGHT TURN******************//
void sharp_right_turns(void) //sharp right turns
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000 sees nothing
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&SeeLine.b.Right) //00101
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
//THIS WAS ADDED IN v008
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right)//00111
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
//FUNCTION STOPS HERE
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) //00011
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//00010
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//01110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constanlty keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//00110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations.
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_right(); //spins right
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
//**********************SHARP LEFT TURNS*********************//
void sharp_left_turns(void) //sharp left turns
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
else if (SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//10100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004);
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
//WE ADDED THIS LINE TO SEE IF IT MAKES A DIFFERENCE (ADDED IN v008)
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//11100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
//THIS LINE FUNCTION ENDS HERE
else if (SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//11000
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004);
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01000
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//01110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&!SeeLine.b.Right)//00110
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations
}
}
}
else if (!SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//01100
{
straight_fwd(); //go straight
Delay10KTCYx(130); //Changed from Delay10KTCYx(50); (v 009)
check_sensors(); //constantly keeps checking to see LED combinations
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//0000
{
spin_left(); //spins left (was spin right in v004)
check_sensors(); //constantly keeps checking to see LED combinations.
}
}
}
else;
}
void final_ends(void) //stops robot when it comes to black platform
{
straight_fwd(); //go straight
Delay10KTCYx(150); //0.1875s
check_sensors(); //constantly keeps checking to see LED combinations
while(SeeLine.b.Left&&SeeLine.b.CntLeft&&SeeLine.b.Center&&SeeLine.b.CntRight&&SeeLine.b.Right) //11111 //all LEDs ON
{
motors_brake_all(); //stops all motor
check_sensors(); //constantly keeps checking to see LED combinations
}
}
void interruptions_left(void) //for interruptions appearing on the left to the track
{
straight_fwd(); // Go forward
Delay10KTCYx(130);
check_sensors();
if (SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //10100
{
while(SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right)//00000 sees nothing
{//spin right
spin_right();
check_sensors();
}
}
else if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&SeeLine.b.Center&&!SeeLine.b.CntRight&&SeeLine.b.Right) //00101
{
straight_fwd(); // Go forward
Delay10KTCYx(130);
check_sensors();
if (!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
while(!SeeLine.b.Left&&!SeeLine.b.CntLeft&&!SeeLine.b.Center&&!SeeLine.b.CntRight&&!SeeLine.b.Right) //00000
{
spin_right();
check_sensors();
}
}
}
*
}