Colony

#include <dragonfly_lib.h>

#include <lineFollow.h>

int main(void)

{

        /* initialize components, set wireless channel */

        dragonfly_init(ALL_ON);

        lineFollow_init();

        int barCode;

        while(1)

        {

                for(int q=0; q<500; q++)

                        barCode = lineFollow(200);

                while(mergeLeft());

                for(int q=0; q<1000; q++)lineFollow(200);

                continue;

                if(barCode==-25)while(turnRight());

                continue;

                if(barCode != -2 && barCode != LINELOST)

                {

                        usb_puti(barCode);

                        usb_putc('\n');

                }

/*                

                switch (barCode)

                {        

                        case 0: orb_set_color(RED); break;

                        case 1: orb_set_color(ORANGE); break;

                        case 2: orb_set_color(YELLOW); break;

                        case 3: orb_set_color(LIME); break;

                        case 4: orb_set_color(GREEN); break;

                        case 5: orb_set_color(CYAN); break;

                        case 6: orb_set_color(BLUE); break;

                        case 7: orb_set_color(PINK); break;

                        case 8: orb_set_color(PURPLE); break;

                        case 9: orb_set_color(MAGENTA); break;

                        default: orb_set_color(WHITE); break;

                        case 0:

                                straight();

                                turnRight();

                                break;

                        case 2:

                                straight();

                                break;

                        case 3:

                                straight();

                                turnLeft();

                                break;

                }

*/        

        }

        return 0;

}

void right()

{

motor_r_set(BACKWARD, 200);

motor_l_set(FORWARD, 200);

delay_ms(400);

}

void straight()

{

motor_r_set(FORWARD, 210);

motor_l_set(FORWARD, 210);

delay_ms(200);

move(0,0);

delay_ms(2000);

}

void left()

{

motor_l_set(BACKWARD, 200);

motor_r_set(FORWARD, 200);

delay_ms(400);

}