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- #include <atx.h>
- void setup()
- {
- lcd("pressSW1");
- sw1_press();
- beep();
- }
- void loop()
- {
- int A = in(40);
- int B = in(41);
- int C = in(45);
- int D = in(46);
- lcd ( "#cA=%d C=%d",A,C );
- /*if ( A==0 && C==0)
- {
- turn_left(100);
- }
- else if ( A==0 && D==0)
- {
- turn_right(100);
- }*/
- if ( A==0)
- {
- go_forward(40);
- }
- else if ( B==0)
- {
- go_backward(30);
- }
- else if ( C==0)
- {
- spin_left(50);
- }
- else if ( D==0)
- {
- spin_right(50);
- }
- else
- {
- motor_stop(ALL);
- }
- }
- void spin_left(int t_power)
- {
- motor(0,t_power);
- motor(1,t_power);
- motor(2,-t_power);
- motor(3,-t_power);
- }
- void turn_left(int t_power)
- {
- motor(0,t_power);
- motor(1,t_power);
- motor(2,0);
- motor(3,0);
- }
- void spin_right(int t_power)
- {
- motor(0,-t_power);
- motor(1,-t_power);
- motor(2,t_power);
- motor(3,t_power);
- }
- void turn_right(int t_power)
- {
- motor(0,-t_power);
- motor(1,-t_power);
- motor(2,0);
- motor(3,0);
- }
- void go_forward(int f_power)
- {
- motor(0,f_power);
- motor(1,f_power);
- motor(2,f_power);
- motor(3,f_power);
- }
- void go_backward(int f_power)
- {
- motor(0,-f_power);
- motor(1,-f_power);
- motor(2,-f_power);
- motor(3,-f_power);
- }
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