Rata V1.1 toimiva pysähdys

#if 1
//reflectance kisa mqttlähetyksil v2?
void zmain(void)
{
    struct sensors_ ref;
    struct sensors_ dig;
    int viiva = 0;
    int nappi = 0;
    int ennenstarttia = 1;
    reflectance_start();
    reflectance_set_threshold(15000, 15000, 15000, 15000, 15000, 15000);
    IR_Start();
    int ajastin = 100;

    motor_start();
    motor_forward(0,0);


    while(true)
    {
        reflectance_digital(&dig);
        //print out 0 or 1 according to results of reflectance period
        printf("%5d %5d %5d %5d %5d %5d \r\n", dig.l3, dig.l2, dig.l1, dig.r1, dig.r2, dig.r3);
        printf("%d", viiva);



             if(SW1_Read() == 0){
                motor_forward(50, true);
           //
                send_mqtt("Zumo046/info", "nappi painettu, lahen menee");
                  nappi = 1;
                IR_flush();
                }

            else if (dig.l3 == 1 && dig.l2 == 1 && dig.l1 == 1 && dig.r1 == 1 && dig.r2 == 1 && dig.r3 == 1 && viiva== 0 && nappi ==1  ) {
                motor_forward(0,0);

             // send_mqtt("Zumo046/info", "olen IR pauses");

                IR_wait();

                motor_forward(100, 100);
                ++viiva;
                ennenstarttia = 0;


            }
            else if (dig.l3 == 0 && dig.l2 == 0 && dig.l1 == 1 && dig.r1 == 1 && dig.r2 == 0 && dig.r3 == 0 && nappi == 1 && ennenstarttia == 0 && ajastin > 0) {
              //send_mqtt("Zumo046/info", "meen eteepain!");
                motor_forward(150, 1);
                ajastin--;
            }
            else if (dig.l3 == 0 && dig.l2 == 0 && dig.l1 == 1 && dig.r1 == 1 && dig.r2 == 0 && dig.r3 == 0 && nappi == 1 && ennenstarttia == 0 ) {
              //send_mqtt("Zumo046/info", "meen eteepain!");
                motor_forward(255, true);
            }
            else if (dig.l3 == 0 && dig.l2 == 0 && dig.l1 == 0 && dig.r1 == 1 && dig.r2 == 1 && dig.r3 == 0  && nappi ==1 && ennenstarttia == 0  ) {
               //send_mqtt("Zumo046/info", "vahan oikeelle");
                motor_turn(210, 180,true);
             ajastin = 100;
            }
            else if (dig.l3 == 0 && dig.l2 == 0 && dig.l1 == 0 && dig.r1 == 0 && dig.r2 == 1 && dig.r3 == 1  && nappi ==1 && ennenstarttia == 0) {
                motor_turn(200, 20, true);
                // send_mqtt("Zumo046/info", "paljon oikealle");

            }
            else if (dig.l3 == 0 && dig.l2 == 0 && dig.l1 == 0 && dig.r1 == 1 && dig.r2 == 1 && dig.r3 == 1  && nappi ==1 && ennenstarttia == 0) {
               // motor_turn(250, 0, true);
                //send_mqtt("Zumo046/info", "TOSI oikealle");
                motor_turn(250, 0, true);

            }
            else if (dig.l3 == 0 && dig.l2 == 0 && dig.l1 == 1 && dig.r1 == 1 && dig.r2 == 1 && dig.r3 == 1  && nappi ==1  && ennenstarttia == 0) {
                 //send_mqtt("Zumo046/info", "TOOOOOSI oikeelle");
                motor_hardturnright(200, 60, true);
                //motor_turn(250, 0, true);

            }
             else if (dig.l3 == 0 && dig.l2 == 0 && dig.l1 == 0 && dig.r1 == 0 && dig.r2 == 0 && dig.r3 == 1  && nappi ==1 && ennenstarttia == 0) {
                motor_hardturnright(200,140, true);
                 //send_mqtt("Zumo046/info", " oikeelle");
                //motor_turn(250, 0, true);

           }
            else if (dig.l3 == 0 && dig.l2 == 1 && dig.l1 == 1 && dig.r1 == 0 && dig.r2 == 0 && dig.r3 == 0  && nappi ==1 && ennenstarttia == 0) {
                motor_turn(180,210,true);
                 //send_mqtt("Zumo046/info", "vahan vasemalle");
                ajastin = 100;
           }
            else if (dig.l3 == 1 && dig.l2 == 1 && dig.l1 == 0 && dig.r1 == 0 && dig.r2 == 0 && dig.r3 == 0  && nappi ==1 && ennenstarttia == 0) {
                motor_turn(20,200, true);
                 //send_mqtt("Zumo046/info", "paljon vasemalle");

            }
             else if (dig.l3 == 1 && dig.l2 == 1 && dig.l1 == 1 && dig.r1 == 0 && dig.r2 == 0 && dig.r3 == 0  && nappi ==1 && ennenstarttia == 0) {
                motor_turn(0, 250, true);
                //send_mqtt("Zumo046/info", "TOSI vasemmalle");
                //motor_hardturnleft(20, 100, true);

            }
             else if (dig.l3 == 1 && dig.l2 == 1 && dig.l1 == 1 && dig.r1 == 1 && dig.r2 == 0 && dig.r3 == 0  && nappi ==1 && ennenstarttia == 0 ) {
               //send_mqtt("Zumo046/info", "TOOOOOSI vasemmalle");
                motor_hardturnleft(60, 200, true);
                //motor_turn(0, 250, true);

            }
            else if (dig.l3 == 1 && dig.l2 == 0 && dig.l1 == 0 && dig.r1 == 0 && dig.r2 == 0 && dig.r3 == 0 && nappi ==1 && ennenstarttia == 0) {
                motor_hardturnleft(140,200, true);
                 //send_mqtt("Zumo046/info", " vasemalle ");
               //motor_turn(0, 250, true);

           }
            else if (dig.l3 == 1 && dig.l2 == 1 && dig.l1 == 1 && dig.r1 == 1 && dig.r2 == 1 && dig.r3 == 1 && viiva < 3) {
                motor_forward(100, 100);
                viiva++;
               // send_mqtt("Zumo046/info", "Stop ");
           }
            else if (dig.l3 == 1 && dig.l2 == 1 && dig.l1 == 1 && dig.r1 == 1 && dig.r2 == 1 && dig.r3 == 1 && viiva >= 3) {
                motor_forward(0, 10000);
                break;
               // send_mqtt("Zumo046/info", "Stop ");
           }
    }
}
#endif