Robot C-program for Group A-2 (wind), E5 Fall 2002

Tyler Stromborn

Daniel Hammer

Ben Drylie-Perkins

#define left analog(3)
#define right analog(2)

void main(void)
{	
	int i,j,endingleft,endingright;
	int leftbump,rightbump;
	while(!start_button())
	{
		printf("\nthreshold a3=%d a2=%d",analog(3),analog(2)); 
		sleep(0.1);
	}
	start_press();
	printf("\npush start to   set right");
	start_press();
	endingleft=analog(2);
	printf("\npush start to   set left");
	start_press();
	endingright=analog(3);
	printf("\npush start to begin");
	start_press();
	while(!stop_button())
	{
		if (leftbump=!digital(7))
		{	printf("\nbumped");
			motor(0,-100);
			motor(1,-100);
			sleep(1.0);
			motor(1,100);
			sleep(1.0);
		}
		if (rightbump=!digital(8))
		{	printf("\nbumped");
			motor(0,-100);
			motor(1,-100);
			sleep(1.0);
			motor(0,100);
			sleep(1.0);
		}
		motor(1,100);
		motor(0,100);
		printf("\na3=%d a2=%d",analog(3),analog(2)); 
		if (10+left>right)
		{
			motor(1,0);
		}
		if (10+left<right)
		{
			motor (0,0);
		}	
		if (left>=endingleft-10||right>=endingright-10)
		{
			ao();
			printf("\nfound maximum");
			break;
		}
	}
      ao();
}