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// Include the Command Module API

1. include "create.h"
2. define safe ((cr8->cliff_right==0)&&(cr8->cliff_left==0)&&(cr8->cliff_frontright==0)&&(cr8->cliff_frontleft==0)&&(cr8->wheeldrop_right==0)&&(cr8->wheeldrop_left==0)&&(cr8->wheeldrop_caster==0)&&(cr8->bumper_right==0)&&(cr8->bumper_left==0))

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

// Declare any new function prototypes here: // For example: int dashboard(int counter, char partnumber);

// 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; 		

int black;

  // Initialize LOCAL Variables used in function main:

black = 800;

	// For example:  i = 1;	

  /*

   write code for main here!

  */

cr8_stopwatch_start( );

cr8_update(cr8);

while(cr8_stopwatch_time( )<=1200);

	{
	while(cr8->button_play==0 && cr8_stopwatch_time( )<1200 && safe)
		{
		switch(cr8_stopwatch_time( ) %2)
		{
			case 0:
			{
			cr8_set_leds(1,0,100,255);
			cr8_drive_direct(0,0);
			cr8_update(cr8);
			}

			case 1:
			{
			cr8_set_leds(0,0,100,255);
			cr8_drive_direct(0,0);
			cr8_update(cr8);
			}
		}
		}


	while(safe)
		{

		cr8_set_leds(1,1,100,255);

		cr8_drive_direct(200,200);

		while((cr8->cliff_frontright_range<=black || cr8->cliff_right_range<=black) && safe && cr8_stopwatch_time( )<=1200)
			{
			cr8_set_leds(0,1,0,255);
			cr8_drive_direct(200,100);
			cr8_update(cr8);
			cr8_stopwatch_time( );
			}
		while((cr8->cliff_frontleft_range<=black || cr8->cliff_left_range<=black) && safe && cr8_stopwatch_time( )<1200)
			{
			cr8_set_leds(1,0,0,255);
			cr8_drive_direct(100,200);
			cr8_update(cr8);
			cr8_stopwatch_time( );
			}
		while(cr8->cliff_frontleft_range>black && cr8->cliff_frontright_range>black && cr8->cliff_left_range>black && cr8->cliff_right_range>black && safe && cr8_stopwatch_time( )<1200)
			{
			cr8_drive_direct(200,200);
			cr8_update(cr8);
			cr8_stopwatch_time( );
			}
		}

	while(!safe && cr8_stopwatch_time( )<1200)
		{
		cr8_set_leds(1,1,255,255);
		cr8_drive_direct(0,0);
		cr8_beep_short( );
		cr8_update(cr8);
		cr8_stopwatch_time( );
		}	
	}
  cr8_free(cr8);
  return(0);

} // End of function main

/* Declare other functions you create here...

For example, to define function xxxxx of type integer (int)

with two input parameters, sample_num and code...

int xxxxx(int sample_num, char code) {

	// Declare LOCAL constants used in function xxxxx: 


	// Declare LOCAL Variables used in function xxxxx: 

	// Initialize LOCAL Variables ised in function xxxxx: 

	// Write code for function XXXXX here:




  //Return int value for function xxxxx: 
  return(1);      You must always return a value to sending program
			--in this case a 1 to indicate fn done with no problems.

} // End of function xxxxx

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