void center_defense()
{
CW180();
sleep(0.5);
claw_down();
sleep(0.5);
turnStraight(200, 100);
forwardT(100, 1);
CCW();
patrol();
}
int main(){
claw_init();
while(1){
WAIT(a_button());
msleep(300);
WAIT(!a_button());
claw_down();
msleep(300);
claw_up();
}
}
void biofuel_block()
{
CW();
sleep(0.5);
forwardT(500, 3.2);
sleep(0.5);
claw_down();
sleep(0.5);
turnStraight(500, 250);
sleep(0.1);
claw_up();
forwardT(100, 2);
sleep(1);
CCW();
forwardT(300, 2.5);
sleep(0.1);
patrol();
}
void bordercross()
{
float sec1 = seconds();
float sec2;
float sec3;
claw_up();
sleep(0.5);
toTouch(500);
sleep(0.2);
reverseT(500, 0.5);
sleep(1);
CCW();
sleep(1);
forwardT(1000, 3);
sleep(0.5);
CCW();
reverseT(500, 1);
sec2 = seconds();
sec3 = sec2 - sec1;
while (sec3 < 15)
{
sec2 = seconds();
sec3 = sec2 - sec1;
}
beep();
forwardT(1000, 6);
sleep(0.3);
claw_down();
sleep(1);
if(IR_left > threshold && IR_right > threshold)
{
while (1)
{
ao();
}
}
sleep(1);
claw_up();
sleep(0.5);
reverseT(500, 1.5);
sleep(1);
}
int main()
{
enable_servos();
claw_down();
whichSide();
strategySelect();
//wait_for_light(7);
if (strategy == 1)
{
printf("Running luggage carts...\n");
run_for(117, strategy_1);
start_process(*countdown);
}
if (strategy == 2)
{
printf("Running tower tip...\n");
run_for(117, strategy_2);
start_process(*countdown);
}
if (strategy == 3)
{
printf("Running biofuel block...\n");
run_for(117, strategy_3);
start_process(*countdown);
}
if (strategy == 4)
{
printf("Running center defense...\n");
run_for(117, strategy_4);
start_process(*countdown);
}
}
