float tim_1=0.0;
float gf_1=0.0;
int mic_1=0;
int gi_1=0;
int gi_2=0;
int gi_3=0;
int gi_4=0;
int gi_5=0;
int gi_6=0;
int gi_7=0;
int gi_8=0;
int gi_9=0;
int gi_10=0;
int ma_1=0;
int ma_2=0;
int ma_3=0;
int ma_4=0;
int ma_5=0;
int ma_6=0;
int ma_7=0;
int ma_8=0;
int ma_9=0;
int ma_10=0;
int sci_1=0;
void main()
{
SCI_Set(0,9600,0,8,1 );
gi_10=450;
gi_8=310;
gi_9=280;
ma_10=280;
gi_5=1;
gf_1=1.0;
while(1)
{
mic_1=AI(8);
if(mic_1 > 750)
{
break;
}
}
//SetMotor(0x1111,100,100,0,0);
SetMotor(0x1111,(int)(100*gf_1),(int)(100*gf_1),0,0);
wait( 0.300000 );
while(1)
{
while(1)
{
ma_7 = AI(6);
if(ma_7 < gi_8)
{
gi_2=AI(9);
gi_4=AI(11);
if((gi_2 < gi_10) || (gi_4 < gi_10))
{
//SetMotor(0x1111,90,10,0,0);
SetMotor(0x1111,(int)(90*gf_1),(int)(10*gf_1),0,0);
wait( 0.100000 );
//SetMotor(0x1111,80,80,0,0);
SetMotor(0x1111,(int)(80*gf_1),(int)(80*gf_1),0,0);
wait( 0.050000 );
while(1)
{
ma_7 = AI(6);
gi_2=AI(9);
if((ma_7 < gi_8) && (gi_2 < 300))
{
StopMotor(0x1111);
//SetMotor(0x1111,100,-100,0,0);
SetMotor(0x1111,(int)(100*gf_1),(int)(-100*gf_1),0,0);
wait( 0.080000 );
StopMotor(0x1111);
DO( 0x1, 1 );
tim_1 =seconds();
wait( 0.500000 );
DO( 0x1, 0 );
break;
}
else
{
SubRoutine_2 ();
}
}
if(gi_5 == 1)
{
gi_1=1;
break;
}
SubRoutine_3 ();
gi_1 = 1 ;
break;
}
else
{
StopMotor(0x1111);
wait( 0.180000 );
//SetMotor(0x1111,-60,-100,0,0);
SetMotor(0x1111,(int)(-40*gf_1),(int)(-100*gf_1),0,0);
wait( 0.300000 );
break;
}
}
else
{
SubRoutine_1 ();
}
}
if(gi_1 == 1)
{
break;
}
while(1)
{
ma_8 = AI(7);
if(ma_8 < gi_8)
{
gi_2=AI(13);
gi_4=AI(15);
if((gi_2 < gi_10) || (gi_4 < gi_10))
{
//SetMotor(0x1111,-80,-10,0,0);
SetMotor(0x1111,(int)(-80*gf_1),(int)(-10*gf_1),0,0);
wait( 0.100000 );
while(1)
{
ma_8 = AI(7);
gi_2=AI(15);
if((ma_8 < gi_8) && (gi_2 < 300))