/**
* Escape objects and go to the light or dark
* @global _mode_light_ it must be set
*/
void go_light_touch()
{
int bmp;
start_process(go_light());
_go_light_touch_running_ = 1;
while(_go_light_touch_running_)
{
/* Obstacle touched, I stop the run and I am escaping */
bmp = bumper_detection();
if(bmp != 0 && bmp != BMP_BACK)
{
_go_light_running_ = 0;
while(_go_light_running_ != -1);
escape(bmp);
/* Run after the correction*/
start_process(go_light());
}
}
_go_light_running_ = 0;
while(_go_light_running_ != -1);
_go_light_touch_running_ = -1;
}
/**
* 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;
}
