// Program for Dude, Where's my Bot?

void main() {

wait_for_light(2);

shut_down_in(89.);

fd(A);

fd(C);

sleep(6.);

bk(A);

bk(C);

sleep(1.);

fd(A);

fd(C);

sleep(2.);

bk(A);

bk(C);

sleep(1.);

fd(A);

fd(C);

sleep(4.5);

fd(A);

bk(C);

}

void wait_for_light(int light_port_)

{

int l_on_, l_off_, l_mid_, l_diff_, t;

/* print statements may look funny but are spaced for LCD*/

printf ("DWMB", light_port_);

sleep(2.);

printf("On V");

while(!view_button());

l_on_=light_passive(light_port_); /*sensor value when light is on*/

beep();

printf("On%d", l_on_);

sleep(1.);

beep();

printf("Off P");

while(!prgm_button());

l_off_=light_passive(light_port_); /*sensor value when light is off*/

beep();

printf("Of%d", l_off_);

sleep(1.);

beep();

if((l_off_-l_on_)>=15){ /*bright = small values */

l_mid_=(l_on_+l_off_)/2;

l_diff_=(l_off_-l_on_);

printf("Good",l_diff_);

while(light_passive(light_port_)>l_mid_){

tone(440.,0.4);

printf("good");

if(light_passive(light_port_)>l_mid_)tone(440.,0.4);

printf("D=%d",l_diff_);

}

}

else{

if(l_off_<450){

printf("Bad");

while(1) /*never terminate */

for(t=100; t<10000; t=t+1200) {

printf("Bad");

tone((float)t,0.5);

printf("ADD");

tone((float)(400+t),0.5);

printf("Shield");

tone((float)(800+t),0.5);

}

}

else{

printf("Bad Calibration Aim sensor!!\n");

while(1) /*never terminate */

for(t=10000; t>200; t=t-1200) {

printf("Bad");

tone((float)t,0.5);

printf("point");

tone((float)(t-400),0.5);

printf("Sensor");

tone((float)(t-800),0.5);

}

}

}

}

//

// Function: shut_down_in(float: delay)

//

// This function will start a background process which sleeps for "delay",

// then stops the motors and kills all other processes.

//

// This function cannot work if another process continually calls

// "hog_processor", since the background task will never gain control.

//

// This function may not work if more than 1000 processes have been

// created between the original call to "shut_down_in" and when the delay

// is finished.

//

int _shut_down_pid;

float _shut_down_delay;

int Bb_Game_Over;

void shut_down_in(float delay)

{

Bb_Game_Over= 0;

printf("sd %d", (int)delay);

// Passing delay to shut_down_task crashes the RCX

_shut_down_delay= delay;

_shut_down_pid= start_process(_shut_down_task());

}

void _shut_down_task()

{

int i,j;

sleep(_shut_down_delay);

hog_processor();

ao();

Bb_Game_Over= 1;

printf("Done");

i= 0;

for (j= 128; j <= 1024; j+=128) {

hog_processor();

ao();

while (i < j) {

if (++i+_shut_down_pid) kill_process(i+_shut_down_pid);

if (_shut_down_pid-i) kill_process(_shut_down_pid-i);

}

}

printf("Done.");

}