ibit tpa2019

function tk (num: number) {
    track(num)
    kam(120)
}
function Back (num: number) {
    iBIT.Motor2(ibitMotor.Backward, 70, 70)
    basic.pause(num)
    iBIT.MotorStop()
    basic.pause(50)
}
function track (num: number) {
    p = 100 - 0
    T = true
    while (T) {
        if (iBIT.ReadADC(ibitReadADC.ADC0) < refL && iBIT.ReadADC(ibitReadADC.ADC1) < refR) {
            iBIT.MotorStop()
            T = false
        } else if (iBIT.ReadADC(ibitReadADC.ADC0) < refL && iBIT.ReadADC(ibitReadADC.ADC1) > refR) {
            iBIT.Spin(ibitSpin.Left, 30)
        } else if (iBIT.ReadADC(ibitReadADC.ADC0) > refL && iBIT.ReadADC(ibitReadADC.ADC1) < refR) {
            iBIT.Spin(ibitSpin.Right, 32)
        } else if (iBIT.ReadADC(ibitReadADC.ADC0) > refL && iBIT.ReadADC(ibitReadADC.ADC1) > refR) {
            iBIT.Motor2(ibitMotor.Forward, num, num - 2)
        }
    }
}
function _1 () {
    track(80)
    kam(120)
    tk(80)
    track(80)
    servo()
}
function _2 () {
    Back(100)
    Right(70)
    tk(80)
    Left(70)
    track(80)
    servo()
}
function _3 () {
    Back(100)
    Right(70)
    tk(80)
    Left(70)
    tk(80)
    Left(70)
    track(80)
    servo()
}
function _4 () {
    Back(100)
    Right(70)
    tk(80)
    tk(80)
    tk(80)
    Right(70)
    tk(80)
    tk(80)
    track(80)
    servo()
}
input.onButtonPressed(Button.A, function () {
    track(80)
    kam(120)
    Right(70)
    for (let i = 0; i < 10; i++) {
        run()
    }
})
function _5 () {
    Back(150)
    Left(70)
    track(80)
    servo()
}
function run () {
    _1()
    _2()
    _3()
    _4()
    _5()
    _6()
    _7()
    _8()
    _9()
    _10()
    _11()
    _12()
}
function SV_Read () {
    iBIT.Servo(ibitServo.SV1, SV)
    SV += 5
    basic.showNumber(SV)
}
function Right (num: number) {
    iBIT.Spin(ibitSpin.Right, num)
    basic.pause(200)
    while (iBIT.ReadADC(ibitReadADC.ADC1) > refR) {
        iBIT.Spin(ibitSpin.Right, num)
    }
    iBIT.Turn(ibitTurn.Right, num)
    basic.pause(30)
    iBIT.MotorStop()
    basic.pause(50)
}
function Left (num: number) {
    iBIT.Spin(ibitSpin.Left, num)
    basic.pause(200)
    while (iBIT.ReadADC(ibitReadADC.ADC0) > refL) {
        iBIT.Spin(ibitSpin.Left, num)
    }
    iBIT.Turn(ibitTurn.Left, num)
    basic.pause(30)
    iBIT.MotorStop()
    basic.pause(50)
}
function _13 () {

}
function kam (num: number) {
    iBIT.Motor2(ibitMotor.Forward, 80, 80)
    basic.pause(num)
    iBIT.MotorStop()
    basic.pause(50)
}
function servo () {
    iBIT.Servo(ibitServo.SV1, 170)
    basic.pause(400)
    iBIT.Servo(ibitServo.SV1, 5)
    basic.pause(300)
}
function _9 () {
    Back(150)
    Right(70)
    tk(80)
    tk(80)
    Right(70)
    tk(80)
    tk(80)
    track(80)
    servo()
}
function _8 () {
    Back(150)
    Right(70)
    track(80)
    servo()
}
function _7 () {
    Back(150)
    Right(70)
    tk(80)
    Right(70)
    tk(80)
    tk(80)
    track(80)
    servo()
}
function _10 () {
    Back(100)
    Right(70)
    tk(80)
    Left(70)
    tk(80)
    track(80)
    servo()
}
function _11 () {
    Back(100)
    Left(70)
    tk(80)
    Right(70)
    track(80)
    servo()
}
function _6 () {
    Back(150)
    Left(70)
    tk(80)
    tk(80)
    Right(70)
    tk(80)
    Left(70)
    track(80)
    servo()
}
function _12 () {
    Back(100)
    Left(70)
    tk(80)
    Right(70)
    tk(80)
    tk(80)
    Right(70)
    track(80)
    servo()
    Back(150)
    Left(70)
    tk(80)
    Right(70)
    tk(80)
}
function color () {
    basic.showString("A0=")
    basic.showNumber(iBIT.ReadADC(ibitReadADC.ADC0))
    basic.showString("A1=")
    basic.showNumber(iBIT.ReadADC(ibitReadADC.ADC1))
}
let T = false
let p = 0
let refR = 0
let refL = 0
let SV = 0
SV = 170
iBIT.Servo(ibitServo.SV1, 5)
refL = 1800
refR = 1800
basic.forever(function () {

})
basic.forever(function () {

})