MarkLab5Code

/*
   Lab5 Brightenburg by Mark Troutt
*/


// Include the Command Module API
#include "create.h"

// Pointer to the Sensor Data structure
cr8_t *cr8;

// Declare any new function prototypes:
int safe(void);
void turn(int right, int time);
void backUp(void);
void UpdateSensors();

int right = 0, left = 0, done = 0;

// Main function
int main(void)
{
  // Allocate memory for sensor data structure
	cr8 = cr8_alloc();

  // Initialize the Create and Command Module
  // Sync communications settings.
	cr8_init(cr8);

  //Code goes here

  cr8_update(cr8);
  cr8_stopwatch_start();
  cr8_adc_enable(ADC_RIGHT_2);
  cr8_set_leds(on, on, 0, 255);
  cr8_beep_long();
  cr8_delay(500);

while(!(cr8->button_play && !cr8->button_advance)){  
  while(safe())
  {
	UpdateSensors();

	if(right > 210 || left > 210){
		cr8_drive_direct(0, 0);
	}
	else if(left < right + 10 && right < left + 10 && left < 45 && right < 45) {
		cr8_drive_direct(-70, 70);
	}
	else if(right > left + 18) {
		cr8_drive_direct(80,35);
		cr8_set_leds(on, off, 0, off);
	}
	else if(left > right + 18) {
		cr8_drive_direct(35,80);
		cr8_set_leds(off, on, 0, off);
	}
	else if(left < right + 18 && right < left + 18) {
		cr8_drive_direct(60, 60);
	}
	else{
		cr8_drive_direct(50,-50);
	}

	if(cr8_stopwatch_time() % 10) {						
		cr8_cricket_display(right,true,false);
	}
  }

  while(!safe()) //stop if not safe
  {
	  cr8_drive_direct(0, 0);
	  cr8_set_leds(off, off, 0, off);
  }
}  

  cr8_set_leds(0, 0, 0, 0); //turn off create lights
  cr8_set_mc_led0(0);       //turn off command module lights
  cr8_set_mc_led1(0);
  cr8_drive_direct(0, 0);   //stop moving

  //End main Code


  // Release the sensor data structure memory and exit the program
  cr8_free(cr8);
  return 0;
}  // End of main()

// safe() checks if create is safe and returns status.
// If create is at a cliff it backs up.
int safe(void){
  int x = true;
  if(cr8->wheeldrop_right || cr8->wheeldrop_left ||
    cr8->wheeldrop_caster )
  {
    x = false;
	cr8_drive_direct(0, 0);
  }
  else if(cr8->cliff_left || cr8->cliff_right || cr8->cliff_frontleft ||
		  cr8->cliff_frontright){
		  cr8_drive_direct(-50, -40);
  }
  else if(cr8->bumper_right)
  {
	cr8_stopwatch_start();
	while(cr8_stopwatch_time() < 25){
	cr8_drive_direct(-70, -70); }
	while(cr8_stopwatch_time() < 40){
	cr8_drive_direct(-70, 70); }
	cr8_stopwatch_start();
  }
  else if(cr8->bumper_left)
  {
    cr8_stopwatch_start();
	while(cr8_stopwatch_time() < 25){
	cr8_drive_direct(-70, -70); }
	while(cr8_stopwatch_time() < 40){
	cr8_drive_direct(70, -70); }
	cr8_stopwatch_start();
  }
  return x;
}  //end safe()

void UpdateSensors()
//Moves the "eye" in front and updates the sensor readings.
{
	cr8_update(cr8);
	if(cr8_stopwatch_time() % 10 == 0)
		{
			left = cr8->adc_left2/4;
			cr8_cricket_servo_set(0,0);
			cr8_cricket_display(left, false, false);
		}
		else if(cr8_stopwatch_time() % 5 == 0)
		{
			right = cr8->adc_left2/4;
			cr8_cricket_servo_set(0,130);
			cr8_cricket_display(right, false, false);
		}

}//End UpdateSensors()