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- #include <popx2.h>
- #define STRAING_DELAY 10
- #define BACKWARD_DELAY 300
- #define WALL_DELAY 100
- #define SPEED 30
- int TURN_DELAY=350;
- float ANGLE = 0;
- void FF(){
- /////////// Wall detect /////////////
- while(in(26)){
- if(!in(24)){
- tr(SPEED);
- delay(WALL_DELAY);
- }
- else if(!in(25)){
- tl(SPEED);
- delay(WALL_DELAY);
- }
- else{
- fd2(SPEED, SPEED);
- }
- }
- //////////// Straing alignment ///////////////
- while(in(24) || in(25)){
- if(!in(24)){
- tl(SPEED);
- }
- else if(!in(25)){
- tr(SPEED);
- }
- }
- delay(STRAING_DELAY);
- ao();
- delay(500);
- /////////////////////////////////////////////
- bk(SPEED);
- delay(BACKWARD_DELAY);
- ao();
- }
- void FR(){
- delay(500);
- sr(SPEED*0.8);
- delay(TURN_DELAY);
- ao();
- delay(500);
- }
- void FL(){
- delay(500);
- sl(SPEED*0.8);
- delay(TURN_DELAY);
- ao();
- delay(500);
- }
- void KICK(){
- bk(SPEED);
- delay(BACKWARD_DELAY);
- ao();
- FL();
- FL();
- ao(); delay(500);
- bk(SPEED); delay(BACKWARD_DELAY);
- ao(); delay(500);
- delay(500);servo(1,100);
- delay(500);servo(1,115);
- delay(500);servo(1, 90);
- delay(1000);
- }
- void setup() {
- servo(1, 90);
- setTextSize(2);
- ///////////////////////////////////
- /* Press OK */
- glcd(0,0,"Press OK");
- while(!sw_OK()){
- TURN_DELAY = map(knob(),0,1024,300,800);
- glcd(1,0,"T=%d",TURN_DELAY);
- delay(100);
- }
- glcd(0,0,"Running ");
- ///////////////////////////////////
- delay(500);
- FF();FL();
- glcd(0,0,"Finished");
- }
- void loop() {
- //FF();FR();
- }
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