ชุมนุมโรบอท

int L2,L1,R1,R2;

int RefL2=512,RefL1=512,RefR1=512,RefR2=512;

void ReadAnalog()

{

    L2=analog(0);

    L1=analog(1);

    R1=analog(2);

    R2=analog(3); 

}

void MotorStop()

{

    ao();

    sleep(20);

}

void Forward(int MotorSpeed,int Time)

{

    fd2(MotorSpeed-0,MotorSpeed-0);

    sleep(Time);

}

void Backward(int MotorSpeed,int Time)

{

    bk2(MotorSpeed-0,MotorSpeed-0);

    sleep(Time);

}

void Left (int MotorSpeed,int Time)

{

    MotorStop();

    sl(MotorSpeed);

    sleep(Time);

    MotorStop();

}

void Right (int MotorSpeed,int Time)

{

    MotorStop();

    sr(MotorSpeed);

    sleep(Time);

    MotorStop();

}

void keepup()

{

    keep_up();

}

void Tracline(int MotorSpeed,int Time)

{

    int Status=0;

    while(Status==0)

    {

       ReadAnalog();

       if(L2<RefL2&&L1<RefL1)Status=1;

       else if(R2<RefR2&&R1<RefR1)Status=1;

       else if(L1<RefL1)tl(60);

       else if(L2<RefL2)sl(60);

       else if(R1<RefR1)tr(60);

       else if(R2<RefR2)sr(60);

       else Forward(MotorSpeed,1);

    }

   Forward(MotorSpeed,Time); 

}

void setup()  

{

    a1(); 

}

void loop()

{

}

void a1()

{

    Forward(50,1000);

    Tracline(70,500);

    Right(50,1300);

    Tracline(70,500);

    ao();

}