Colony

#include "departing.h"

#include <range.h>

#include <move.h>

/**

 * Leaves the charging station. The robot will

 * continue to back up until it collides with

 * a wall. range_init must be called before this

 * function may be used.

 *

 * @return nonzero if the departure is complete, 

 * zero otherwise

 **/

int depart_station(void)

{

        int front_distance = read_distance(IR2);

        if(front_distance > LEAVE_HIT_WALL_DIST_THRESH)

                seek_leave_dist_count++;

        else

                seek_leave_dist_count = 0;

        if(seek_leave_dist_count > 5)

        {

                //stop

                move(0,0);

                return 1; 

        }

        // continue moving backwards

        move(SEEK_LEAVE_STATION_VELOCITY_HIT_WALL, 0);

        return 0;

}