sumo

#include "MeMCore.h"
MeDCMotor stang(M1);
MeDCMotor drept(M2);
MeLineFollower line(PORT_2);
MeUltrasonicSensor sonic(PORT_3);
int distanta;
int stare;
MeIR ir;
int ok;
int Stefan=0;
int m=0;
uint32_t value = 0x00;
void inainte () {
  stang.run(-150);
  drept.run(150);
}


void atac () {
  stang.run(-255);
  drept.run(255);
}

void inapoi () {
  stang.run(255);
  drept.run(-255);
}
void dreapta () {
  stang.run(255);
  drept.run(0);
}
void stanga () {
  stang.run(0);
  drept.run(-255);
}
void oprire () {
  stang.run(0);
  drept.run(0);
}



void sumo() {

    distanta = sonic.distanceCm();
  int stare = line.readSensors();
  switch (stare) {
    case 0:{
    if (distanta < 20) {
      atac();    }
      else  inainte(); break;}
    case 1: inapoi(); delay(600);dreapta();delay(300); ok = 1; break;
    case 2: inapoi(); delay(600);stanga();delay(300);ok = 2; break;
    case 3: inapoi(); delay(600);stanga();delay(300);break;
    //if (ok == 1){inapoi(); delay(600);dreapta();delay(300);}
     // if (ok == 2){inapoi; delay(600);stanga();delay(300);}
      //if(ok == 0) {inapoi; delay(600);stanga();delay(300);}


  }}
  /*distanta = sonic.distanceCm();
    if (distanta < 20) {
      atac();    }
      else  inainte();
  }
*/

void setup() {
  ir.begin();}

void loop() {
  if (ir.decode()) {
    value = (ir.value >> 16 & 0xFF );

  }
  switch (value) {
    case 0x44 :  if (Stefan==0)
    {dreapta();
    delay(600);
    Stefan=Stefan+1;}
    sumo();
      break;
  }


}