root / trunk / code / projects / activities_fair_demo / main.c @ 2001
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1 | 2001 | azl | /*
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2 | * main.c for activities fair demo
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3 | *
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4 | * Author: Colony Project, CMU Robotics Club
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5 | */
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6 | |||
7 | #include <dragonfly_lib.h> |
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8 | #include "../linefollowing/lineDrive.h" |
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9 | |||
10 | #define LINESPEED 180 |
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11 | #define T 100 |
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12 | #define SPD 190 |
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13 | int main (void) { |
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14 | |||
15 | /* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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16 | dragonfly_init(ALL_ON); |
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17 | orb_init(); |
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18 | if(button2_read()){
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19 | lineDrive_init(); |
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20 | while(true) |
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21 | doDrive(LINESPEED); |
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22 | } else {
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23 | buzzer_init(); |
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24 | orb1_set_color(YELLOW); |
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25 | a6(T/2);
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26 | orb2_set_color(YELLOW); |
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27 | e7(T*3);
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28 | delay_ms(T*3);
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29 | while(1){ |
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30 | { //i==1
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31 | motor_l_set(FORWARD, SPD); |
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32 | motor_r_set(BACKWARD, SPD+10);
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33 | orb1_set_color(GREEN); |
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34 | e6(T*2);
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35 | b5(T); |
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36 | c6(T); |
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37 | orb2_set_color(GREEN); |
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38 | d6(T*2);
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39 | orb2_set_color(CYAN); |
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40 | c6(T); |
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41 | |||
42 | motor_l_set(FORWARD, SPD-10);
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43 | motor_r_set(FORWARD, SPD-10);;
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44 | b5(T); |
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45 | orb1_set_color(CYAN); |
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46 | a5(T*2);
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47 | a5(T); |
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48 | c6(T); |
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49 | orb1_set_color(ORANGE); |
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50 | orb2_set_color(ORANGE); |
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51 | e6(T*2);
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52 | orb1_set_color(RED); |
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53 | orb2_set_color(RED); |
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54 | d6(T); |
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55 | c6(T); |
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56 | orb1_set_color(LIME); |
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57 | orb2_set_color(LIME); |
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58 | b5(T*3);
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59 | c6(T); |
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60 | d6(T*2);
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61 | orb1_set_color(BLUE); |
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62 | } |
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63 | |||
64 | { //i==2
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65 | motor_l_set(FORWARD, SPD); |
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66 | motor_r_set(BACKWARD, SPD); |
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67 | e6(T*2);
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68 | orb2_set_color(BLUE); |
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69 | c6(T*2);
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70 | orb2_set_color(ORB_OFF); |
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71 | a5(T*2);
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72 | orb1_set_color(ORB_OFF); |
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73 | a5(T); |
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74 | |||
75 | { motors_off(); |
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76 | a5(T*1);
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77 | delay_ms(T*2);
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78 | } |
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79 | motor_l_set(FORWARD, SPD-10);
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80 | motor_r_set(FORWARD, SPD-10);
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81 | |||
82 | delay_ms(T); |
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83 | orb2_set_color(WHITE); |
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84 | d6(T); |
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85 | delay_ms(T); |
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86 | orb1_set_color(WHITE); |
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87 | f6(T); |
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88 | orb1_set_color(PINK); |
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89 | orb2_set_color(PINK); |
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90 | a6(T); |
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91 | c6(T/2);
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92 | c6(T/2);
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93 | g6(T); |
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94 | f6(T); |
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95 | orb1_set_color(GREEN); |
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96 | orb2_set_color(GREEN); |
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97 | e6(T*2);
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98 | delay_ms(T); |
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99 | orb2_set_color(RED); |
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100 | orb1_set_color(RED); |
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101 | c6(T); |
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102 | e6(T); |
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103 | a5(T/2);
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104 | g5(T/2);
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105 | |||
106 | d6(T); |
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107 | } |
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108 | { //i==3
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109 | motor_l_set(FORWARD, SPD); |
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110 | motor_r_set(BACKWARD, SPD); |
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111 | c6(T); |
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112 | b5(T*2);
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113 | |||
114 | delay_ms(T); |
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115 | orb2_set_color(PURPLE); |
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116 | orb1_set_color(PURPLE); |
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117 | c6(T); |
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118 | d6(T*2);
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119 | orb2_set_color(RED); |
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120 | motor_r_set(FORWARD, SPD); |
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121 | e6(T*2);
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122 | orb1_set_color(RED); |
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123 | c6(T*2);
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124 | orb1_set_color(ORB_OFF); |
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125 | a5(T); |
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126 | a4(T); |
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127 | orb2_set_color(ORB_OFF); |
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128 | a5(T); |
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129 | a4(T); |
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130 | |||
131 | { |
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132 | motors_off(); |
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133 | delay_ms(T*2);
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134 | orb2_set_color(ORANGE); |
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135 | orb1_set_color(ORANGE); |
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136 | e6(T); |
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137 | } |
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138 | motor_l_set(FORWARD, SPD); |
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139 | motor_r_set(FORWARD, SPD); |
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140 | e6(T*3);
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141 | orb2_set_color(RED); |
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142 | orb1_set_color(RED); |
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143 | c6(T*3);
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144 | } |
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145 | { //i==4
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146 | motor_l_set(FORWARD, SPD); |
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147 | motor_r_set(BACKWARD, SPD); |
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148 | c6(T); |
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149 | orb2_set_color(MAGENTA); |
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150 | orb1_set_color(MAGENTA); |
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151 | d6(T*4);
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152 | orb2_set_color(CYAN); |
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153 | orb1_set_color(CYAN); |
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154 | b5(T*2);
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155 | |||
156 | motor_r_set(FORWARD, SPD); |
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157 | b5(T*2);
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158 | orb2_set_color(PURPLE); |
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159 | orb1_set_color(PURPLE); |
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160 | c6(T*4);
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161 | orb2_set_color(PINK); |
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162 | orb1_set_color(PINK); |
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163 | a5(T*4);
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164 | orb2_set_color(BLUE); |
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165 | orb1_set_color(GREEN); |
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166 | ab5(T*4);
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167 | orb1_set_color(BLUE); |
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168 | orb2_set_color(GREEN); |
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169 | b5(T); |
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170 | } |
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171 | { //i==5
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172 | motor_l_set(FORWARD, SPD); |
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173 | motor_r_set(BACKWARD, SPD); |
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174 | b5(T*2);
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175 | delay_ms(T); |
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176 | orb2_set_color(ORANGE); |
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177 | orb1_set_color(ORANGE); |
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178 | e6(T*4);
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179 | orb2_set_color(RED); |
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180 | orb1_set_color(RED); |
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181 | |||
182 | motor_r_set(FORWARD, SPD); |
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183 | c6(T*4);
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184 | orb2_set_color(MAGENTA); |
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185 | orb1_set_color(MAGENTA); |
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186 | d6(T*4);
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187 | orb2_set_color(CYAN); |
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188 | orb1_set_color(CYAN); |
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189 | b5(T*4);
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190 | c6(T*2);
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191 | orb1_set_color(WHITE); |
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192 | e6(T); |
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193 | } |
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194 | motors_off(); |
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195 | |||
196 | { //CIRCLE
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197 | |||
198 | motor_l_set(FORWARD, SPD); |
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199 | motor_r_set(BACKWARD, SPD); |
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200 | e6(T); |
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201 | orb2_set_color(WHITE); |
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202 | |||
203 | a6(T*4);
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204 | |||
205 | } |
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206 | { //RESET
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207 | motor_l_set(FORWARD, SPD+50);
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208 | motor_r_set(FORWARD, SPD); |
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209 | |||
210 | orb1_set_color(LIME); |
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211 | orb2_set_color(LIME); |
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212 | ab6(T); |
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213 | orb1_set_color(ORB_OFF); |
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214 | orb2_set_color(ORB_OFF); |
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215 | |||
216 | delay_ms(T*13);
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217 | |||
218 | motor_l_set(BACKWARD, SPD); |
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219 | motor_r_set(FORWARD, SPD); |
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220 | delay_ms(T*3);
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221 | } |
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222 | |||
223 | motors_off(); |
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224 | delay_ms(T*5);
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225 | |||
226 | } |
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227 | } |
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228 | return 0; |
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229 | } |