void GeekBot::init()
{
pinMode(LED_LEFT_PIN, OUTPUT);
pinMode(LED_RIGHT_PIN, OUTPUT);
digitalWrite(LED_LEFT_PIN, HIGH);
digitalWrite(LED_RIGHT_PIN, HIGH);
motorsInit( LEFT_SERVO_PIN, RIGHT_SERVO_PIN );
navigationInit( &mySounds );
lineFollowerInit( &mySounds );
LineSensorArrayInit();
}
task main()
{
writeValueToLEDs(0);
autonomousOptimized = true;
initSwerve();
initLift();
lineFollowerInit();
writeValueToLEDs(IDLE);
waitForStart();
initGyro();
setModulePositions(1440);
resetDistance();
while ( !driveToCenter(false) )
{
updateGyro();
updateSwerve();
updateLift();
}
}
