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HigginsWimpProgram

/* - Dan Higgins

	- Red cohort
	- Wimp mode   Lab 4
	- December 15, 2007
	- After being moved the robot will move forward for 600mm unless either bumper is pressed.  If a bumper is hit the robot will make a 90 degree turn away from the bump and move 600 mm 

• /

// Include the Command Module API

1. include "create.h"

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

// Declare any new function prototypes here:

int rightbump(void);
int leftbump(void);
int reset(void);
// For example: int dashboard(int counter, char partnumber);

uint8_t safe(void)
{
cr8_update(cr8);

	// Check for unsafe conditions:
	//    Wheel Drops
	//    Cliff Detection
	if(cr8->wheeldrop_left   || cr8->wheeldrop_right ||
	   cr8->wheeldrop_caster ||
	   cr8->cliff_right      || cr8->cliff_left      ||
	   cr8->cliff_frontright || cr8->cliff_frontleft)
	{
		cr8_drive_direct(0,0);
		cr8_beep_error();
		cr8_set_leds(off,off,255,255);
		reset();
		return 0;
	}
	else {
		// No unsafe conditions found
		return 1;
	}
}

// Declare GLOBAL constants used in program:

// Declare GLOBAL Variables used in program:

// Initialize GLOBAL Variables used in program:

// Declaraion for function "main" int main(void) {

  // Allocate memory for sensor data structure
	cr8 = cr8_alloc();

  /* Initialize the Create and Command Module
     Sync communications settings.     */

	cr8_init(cr8);

  // Declare LOCAL constants used in function main:

  	// For example:  const int Pi100 = 314; 

  // Declare LOCAL Variables used in function main:

	// For example:  int i, j; 				

  // Initialize LOCAL Variables used in function main:

	// For example:  i = 1;	

  /*

   write code for main here!

  */

  cr8_update(cr8);
  cr8_delay(10);
  reset();
  while(safe())
  {
	while(1) 
  	{
		while(cr8->dist_mm == 0 && safe()) //while the odometer is equal to zero
		{
			cr8_set_leds(1,1,0,255);
			cr8_cricket_display(cr8->dist_mm,true,false);
			cr8_update(cr8);
			cr8_delay(10);
		}	
		while(cr8->dist_mm !=0 && safe()) //when the odometer is greater than zero
		{
			cr8_drive_direct(250,250);
			cr8_cricket_display(cr8->dist_mm,true,false);
			cr8_update(cr8);
			cr8_delay(10);

			if(cr8->bumper_right == true && safe()) //turn 90 degrees left and reset
			{
				rightbump();
				reset();
			}
			else if(cr8->bumper_left == true && safe()) // turn 90 degrees right and reset
			{
				leftbump();
				reset();
			}
			while(cr8->dist_mm >= 600 && safe())
			{
				cr8_drive_direct(0,0);
				cr8_delay(25);
				while(cr8->dist_mm > 0)
				{
					reset();
					cr8_update(cr8);
					cr8_cricket_display(cr8->dist_mm,true,false);
				}	

			}
		}\\		
	}

  }	

  cr8_free(cr8);
  return(0);
}  // End of function main

//Defining Functuons

int rightbump(void) {

	while(cr8->bumper_right == true && safe())//when right bumper is pressed the robot will trun 90 degrees to the left and reset
	{
		cr8_drive_direct(-250,250);
		cr8_cricket_display(cr8->angle,true,false);
		cr8_update(cr8);
		cr8_delay(10);
		cr8_set_leds(0,1,0,0);
	}	
	cr8->angle = 0;
	while(cr8->angle < 90 && cr8->bumper_right == false && cr8->bumper_left == false)
	{
		cr8_drive_direct(-250,250);
		cr8_cricket_display(cr8->angle,true,false);
		cr8_update(cr8);
		cr8_delay(10);
		cr8_set_leds(0,1,0,0);
		cr8->dist_mm = 0;\\		
	}
	return(1);
}	

int leftbump(void)
{
while(cr8->bumper_left == true && safe())//when left bumper is pressed the robot will trun 90 degrees to the right and reset

	{
		cr8_drive_direct(250,-250);
		cr8_cricket_display(cr8->angle,true,false);
		cr8_update(cr8);
		cr8_delay(10);
		cr8_set_leds(0,0,0,255);
	}	
	cr8->angle = 359;
	while(cr8->angle > 269 && cr8->bumper_right == false && cr8->bumper_left == false)
	{
		cr8_drive_direct(250,-250);
		cr8_cricket_display(cr8->angle,false,false);
		cr8_update(cr8);
		cr8_delay(10);
		cr8_set_leds(0,0,0,255);
		cr8->dist_mm = 0;
	}
	return(1);	
}		

int reset(void) {

	cr8->angle = 0;
	cr8->dist_mm = 0;
	cr8_update(cr8);
	cr8_delay(10);
	return(1);
}