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HuntMurphyFindballs

// search for balls
void findballs (void)

	{
	 cr8_adc_enable(ADC_CENTER_1);
	 cr8_adc_enable(ADC_CENTER_2);
	 cr8_adc_enable(ADC_LEFT_1);
	 timer=cr8_stopwatch_time();
	 while((intime) && (safe)) //stay inside this loop while intime and safe
		{
                 reset_odometer();
		 cr8_drive_direct(100,100);
		 lcd_print_4vars(cr8->adc_center1,cr8->adc_center2, cr8->angle, cr8->bumper_right, true, false);
		 if((cr8->adc_left1 >= 330)&&(cr8->adc_left1 <= 550))
			{
			 cr8_drive(0,0);
			 return;
			}
		 if ((cr8 -> bumper_right) || ((cr8 -> bumper_right) && (cr8 -> bumper_left))) rightbumper(); 
		 if ((cr8 -> bumper_left) && (!cr8 -> bumper_right)) leftbumper();
                 cr8_update(cr8);
		}		
	return;
	}