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 go_straight(void)
{
// very simple motor control
if ( SeeLine.b.Center ) straight_fwd();
else if (SeeLine.b.Left) spin_left();
else if (SeeLine.b.CntLeft) turn_left();
else if (SeeLine.b.CntRight) turn_right();
else if (SeeLine.b.Right) spin_right();
if ( (SeeLine.B ) == 0b00000u) motors_brake_all();
}
