Project 8

#include <atx.h>
#define BLACK 200
#define LEFT_SENSOR 5
#define RIGHT_SENSOR 4
int state = 1 ;
void setup()
{
  lcd("pressSW1");
  sw1_press();
  beep();
}
void loop()
{

  int left = analogRead(LEFT_SENSOR);
  int right = analogRead(RIGHT_SENSOR);
  if(left < 200 && right < 200)
  {
    switch(state)
    {
    case 1:
      {
        spin_right(100);
        delay(200);
        break;
      }
    case 2:
      {
        spin_right(100);
        delay(200);
        break;
      }
    case 3:
      {

        spin_right(100);
        delay(350);
        go_forward(100);
        delay(90);
        break;
      }
    case 4:
      {
        spin_right(100);
        delay(250);
        break;
      }
    case 5:
      {
        spin_right(100);
        delay(250);
        break;
      }
    case 6:
      {
        spin_right(100);
        delay(200);
        break;
      }
    case 7 :
      {
        spin_right(100);
        delay(200);
        break;
      }
    case 8 :
      {
        spin_left(100);
        delay(200);
        break;
      }
    case 9 :
      {
        spin_right(100);
        delay(200);

        break;
      }
    case 10 :
      {
        timed_follow(3000 );
        break;
      }

    case 11 :
      {
        spin_right(100);
        delay(200);
        break;
      }
    default:
      {
        motor_stop(ALL);
        sw1_press();
      }
    }
    state = state + 1;
  }
  else if( left < 200 )
  {
    spin_left(100);
  }
  else if( right < 200 )
  {
    spin_right(100);
  }
  else
  {
    go_forward(20);
  }
}
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 go_forward(int f_power)
{
  motor(0,f_power);
  motor(1,f_power);
  motor(2,f_power);
  motor(3,f_power);
}

void timed_follow( long ms )
{
  long start = millis();
  while( millis() - start < ms )
  {
    int left = analogRead(LEFT_SENSOR);
    if( left < 200 )
    {
      spin_left(100);
    }
    else
    {
      go_forward(20);
    }
  }
}