Robot C-program for Group B-2 (light), E5 Fall 2002

Michael Cullinan

Masabumi Chano

void back()
{
    motor(0,-100);
    motor(1,-100);
    sleep(6.0);
}

void bumpsensor()
{
    if(digital(8)==0 && digital(7)==0)
      {
        back();
        motor(0,0);
        motor(1,50);
        sleep(4.0);     
    }      
    else if(digital(7)==0){
          back();
          motor(0,0);
          motor(1,50);
          sleep(4.0);          
      }
      else if(digital(8)==0)
          {
            back();
            motor(0,50);
            motor(1,0);
            sleep(5.0);    
        }
}

void main()
{
    int found = 0;
    while (found == 0)
      {  
        bumpsensor();
        printf("\nanalog(4) = %d", analog(4));
        printf("analog(5) = %d", analog(5));
        if ((analog(5) < 9) && analog(4) < 9)
          {
            found = 1;
        }
        if ((analog(5)) < (analog(4)-2))
          {
            motor(1,0);
            motor(0,50);
        }
        else if (analog(5) > (analog(4)+2))
            {
              motor(0,0);
              motor(1,50);
          }
          else
            {
              motor(0,25);
              motor(1,25);
          }
        
    }    
    ao();
    tone(329.6,.2);
    sleep(.1);
    tone(329.6,.2);
    sleep(.1);
    tone(329.6,.2);
    sleep(.1);
    tone(261.6,.8);
    sleep(.2);  
    tone(293.7,.2);
    sleep(.1);
    tone(293.7,.2);
    sleep(.1);
    tone(293.7,.2);
    sleep(.1);
    tone(200.0,.8);


}