Builders guide robot pacman.pdf

}}}next_turn = NONE;turn_ready = 0;if ((!stop || turn_enable) && initial_start){if (!adjust_left){if(left_wheel)left_wheel = 0;elseleft_wheel = 1;}else{adjust_counter++;if (adjust_counter == ADJUST_AMT){adjust_left = 0;adjust_counter = 0;}}}else{}if (!adjust_right){if(right_wheel)right_wheel = 0;elseright_wheel = 1;}else{adjust_counter++;if (adjust_counter == ADJUST_AMT){adjust_right = 0;adjust_counter = 0;}}left_wheel = 0;right_wheel = 0;}}if ( input(DOT_COUNT) ){output_bit(LCD_POINTS, 1);dot_count_timer = 1;}if (dot_count_timer){dot_count_counter++;if (dot_count_counter == DOT_COUNT_EXPIRE){output_bit(LCD_POINTS, 0);dot_count_timer = 0;dot_count_counter = 0;}}#INT_RBvoid signal_change(){short rf1, rf0;int i;if ( input(RF_ON) ){if( !initial_start ){// calibration modeif (calibration_stage == 0) // move robot in front of wall{// calibrate nearest front sensor distanceFRONT_OBSTACLE = 0;for ( i = 0; i < NUM_AVERAGES; i++ ){output_bit(SENSOR_LED, 1);delay_ms(SENSOR_VALID_DELAY*10);set_adc_channel( OBSTACLE_FRONT );delay_us(10);FRONT_OBSTACLE += read_adc();output_bit(SENSOR_LED, 0);}}FRONT_OBSTACLE /= NUM_AVERAGES;calibration_stage++;