root / branches / 16299_s10 / code / behaviors / formation_control / hive / hive.c @ 1812
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1 | 1803 | bneuman | #include <dragonfly_lib.h> |
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2 | #include <wl_basic.h> |
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3 | #include <encoders.h> |
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4 | #include "hive.h" |
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5 | |||
6 | int timeout = 0; |
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7 | int sending = 0; |
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8 | int desired_max_bom;
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9 | int bom_max_counter;
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10 | |||
11 | |||
12 | //Last used 12,13,7(BOM)
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13 | void set_desired_max_bom(int desired_angle) |
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14 | { |
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15 | if (desired_angle >= 348 || desired_angle < 11) desired_max_bom = 0; |
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16 | if (desired_angle >= 11 && desired_angle < 33) desired_max_bom = 1; |
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17 | if (desired_angle >= 33 && desired_angle < 56) desired_max_bom = 2; |
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18 | if (desired_angle >= 56 && desired_angle < 78) desired_max_bom = 3; |
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19 | if (desired_angle >= 78 && desired_angle < 101) desired_max_bom = 4; |
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20 | if (desired_angle >= 101 && desired_angle < 123) desired_max_bom = 5; |
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21 | if (desired_angle >= 123 && desired_angle < 145) desired_max_bom = 6; |
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22 | if (desired_angle >= 145 && desired_angle < 167) desired_max_bom = 7; |
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23 | if (desired_angle >= 167 && desired_angle < 190) desired_max_bom = 8; |
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24 | if (desired_angle >= 190 && desired_angle < 212) desired_max_bom = 9; |
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25 | if (desired_angle >= 212 && desired_angle < 235) desired_max_bom = 10; |
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26 | if (desired_angle >= 235 && desired_angle < 257) desired_max_bom = 11; |
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27 | if (desired_angle >= 257 && desired_angle < 280) desired_max_bom = 12; |
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28 | if (desired_angle >= 280 && desired_angle < 302) desired_max_bom = 13; |
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29 | if (desired_angle >= 302 && desired_angle < 325) desired_max_bom = 14; |
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30 | if (desired_angle >= 325 && desired_angle < 348) desired_max_bom = 15; |
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31 | } |
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32 | |||
33 | void forward(int speed){ // set the motors to this forward speed. |
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34 | motor_l_set(FORWARD,speed); |
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35 | motor_r_set(FORWARD,speed); |
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36 | } |
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37 | void left(int speed){ // turn left at this speed. |
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38 | motor_l_set(FORWARD,speed); |
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39 | motor_r_set(BACKWARD,speed); |
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40 | } |
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41 | void right(int speed){ |
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42 | motor_l_set(BACKWARD,speed); |
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43 | motor_r_set(FORWARD,speed); |
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44 | } |
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45 | void stop(void){ // could be set to motors_off(), or just use this as an alternative. |
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46 | motor_l_set(BACKWARD,0); // stop() is better - motors_off() creates a slight delay to turn them back on. |
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47 | motor_r_set(FORWARD,0);
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48 | } |
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49 | void setforward(int spd1, int spd2){ |
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50 | motor_l_set(FORWARD,spd1); |
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51 | motor_r_set(FORWARD,spd2); |
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52 | } |
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53 | void backward(int speed){ |
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54 | motor_l_set(BACKWARD, speed); |
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55 | motor_r_set(BACKWARD, speed); |
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56 | } |
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57 | |||
58 | |||
59 | void switch_sending(void) |
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60 | { |
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61 | if(sending)
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62 | { |
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63 | sending = 0;
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64 | bom_off(); |
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65 | } |
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66 | else
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67 | { |
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68 | sending = 1;
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69 | bom_on(); |
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70 | } |
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71 | } |
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72 | |||
73 | |||
74 | |||
75 | int get_distance(void){ // takes an averaged reading of the front rangefinder |
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76 | int temp,distance,kk=5; // kk sets this to 5 readings. |
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77 | distance =0;
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78 | for (int i=0; i<kk; i++){ |
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79 | temp = range_read_distance(IR2); |
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80 | if (temp == -1) |
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81 | { |
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82 | //temp=0;
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83 | i--; |
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84 | } |
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85 | else
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86 | distance+= temp; |
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87 | delay_ms(3);
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88 | } |
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89 | if (kk>0) |
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90 | return (int)(distance/kk); |
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91 | else
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92 | return 0; |
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93 | } |
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94 | |||
95 | |||
96 | |||
97 | /*
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98 | Orients the robot so that it is facing the beacon (or the broadcasting BOM).
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99 | |||
100 | */
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101 | void correctTurn(void) |
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102 | { |
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103 | orb1_set_color(BLUE); // BLUE and PURPLE
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104 | left(220);
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105 | while(1) |
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106 | { |
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107 | int bomNum = 0; // bomNum is the current maximum reading |
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108 | bom_refresh(BOM_ALL); |
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109 | bomNum = bom_get_max(); |
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110 | usb_puti(bomNum); |
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111 | if(bomNum == 4) // when it's turned the right way, stop |
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112 | { |
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113 | timeout = 0;
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114 | //motor_l_set(1, 200);
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115 | //motor_r_set(1, 200);
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116 | break; // exits the while() loop to stop the method |
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117 | } |
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118 | else // facing the wrong way |
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119 | { |
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120 | if(bomNum == -1) |
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121 | { |
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122 | timeout++; |
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123 | |||
124 | if(timeout > 5000) // if it's been looking too long, move a little bit as it turns |
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125 | { |
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126 | motor_r_set(FORWARD, 210);
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127 | motor_l_set(BACKWARD, 190);
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128 | } |
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129 | } |
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130 | else if((bomNum >= 12) || (bomNum < 4)) |
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131 | { |
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132 | motor_l_set(FORWARD, 200);
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133 | motor_r_set(BACKWARD, 200);
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134 | timeout = 0;
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135 | } |
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136 | else
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137 | { |
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138 | motor_l_set(BACKWARD, 200);
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139 | motor_r_set(FORWARD, 200);
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140 | timeout = 0;
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141 | } |
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142 | } |
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143 | } |
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144 | return;
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145 | } |
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146 | |||
147 | |||
148 | |||
149 | /*
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150 | drives forward a hardcoded distance. May not be useful.
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151 | */
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152 | void go_straight(void){ |
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153 | forward(200);
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154 | encoder_rst_dx(LEFT); |
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155 | encoder_rst_dx(RIGHT); |
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156 | delay_ms(100);
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157 | int x_left = encoder_get_x(LEFT), x_right = encoder_get_x(RIGHT);
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158 | int count = 0; |
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159 | int d;
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160 | while (count<25){ //count = 25 when bot6; count <12 |
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161 | x_left = encoder_get_x(LEFT); |
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162 | x_right = encoder_get_x(RIGHT); |
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163 | d = x_right-x_left; |
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164 | if (d>13 || d<-13){ |
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165 | if(d<50 && d>-50){ |
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166 | d = round(1.0*d/4); |
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167 | setforward(200+d, 200-d); |
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168 | } |
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169 | } |
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170 | delay_ms(32);
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171 | count++; |
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172 | } |
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173 | } |
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174 | |||
175 | |||
176 | /*
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177 | BLINK the given number times
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178 | */
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179 | void blink(int num) { |
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180 | for(int i = 0; i<num; i++) |
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181 | { |
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182 | orb_set_color(ORB_OFF); |
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183 | delay_ms(350);
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184 | orb_set_color(RED); |
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185 | delay_ms(200);
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186 | } |
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187 | orb_set_color(ORB_OFF); |
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188 | } |
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189 | |||
190 | |||
191 | int main(void) |
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192 | { |
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193 | /* Initialize dragonfly board */
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194 | dragonfly_init(ALL_ON); |
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195 | /* Initialize the basic wireless library */
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196 | wl_basic_init_default(); |
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197 | /* Set the XBee channel to your assigned channel */ /* Set the XBee channel to your assigned channel */ |
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198 | wl_set_channel(24);
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199 | |||
200 | 1812 | cbrownel | orb_set_color(BLUE); |
201 | |||
202 | encoder_rst_dx(LEFT); |
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203 | encoder_rst_dx(RIGHT); |
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204 | 1803 | bneuman | |
205 | 1812 | cbrownel | forward(200);
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206 | delay_ms(3000);
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207 | |||
208 | |||
209 | 1803 | bneuman | orb_set_color(RED); |
210 | while(1); /* END HERE */ |
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211 | |||
212 | //return 0;
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213 | } |