////////////////////////////////////////////////
//BOT CONTROL
void bot_control(void)
{
//S0
if(SH_LEFT>=125 && SH_LEFT<=140)
{
S4_t=0; //for S4
CURR_S=S0;
if(!S3_t) set_servo(CENTER);
if(SH_CENTER<70 && SH_CENTER>=55) {speed_down(4);goto f_exit;}
else if(SH_CENTER>=70) {S3_t=1;speed_down(4);set_servo(MAX_RIGHT);goto f_exit;}
else if(SH_CENTER<55) {S3_t=0;speed_up(5);goto f_exit;}
}
//S1
else if(SH_LEFT>140 && SH_LEFT<=240)
{
S4_t=0; //for S4
CURR_S=S1;
//-------------------
if(SH_CENTER>=70)
{
S3_t=1; //for S3
speed_down(4);
set_servo(MAX_RIGHT);
goto f_exit;
}
else
{
S3_t=0;
set_servo(MIN_RIGHT);
speed_down(2);
}
//-------------------
goto f_exit;
}
//S2
else if(SH_LEFT>240 || S3_t)
{
S4_t=0; //for S4
CURR_S=S2;
//-------------------
set_servo(MAX_RIGHT);
speed_down(5);
//-------------------
goto f_exit;
}
//S3
else if(SH_LEFT<125 && SH_LEFT>=100 && !S3_t)
{
S4_t=0; //for S4
CURR_S=S3;
//-------------------
set_servo(MIN_LEFT);
speed_down(3);
//-------------------
goto f_exit;
}
//S4
else if(SH_LEFT<100)
{
S3_t=0;
//-------------------
switch(S4_t)
{
case 0:
{
S4_t=1;
CURR_S=S40;
speed_down(3);
set_servo(MIN_LEFT);
delay_ms(10);
break;
};
case 1:
{
CURR_S=S41;
speed_down(1);
set_servo(MAX_LEFT);
break;
};
};
//-------------------
goto f_exit;
}
f_exit:
#asm
nop
#endasm
};
void
on_button9_clicked (GtkButton *button,
gpointer user_data)
{
speed_down();
}
