c robot sim

int sValue=350,ball=0,green=0;

int power=55,delay=200;

bool W(int s){ if(analog(s)>sValue) return true ; return false; }

bool B(int s){ if(analog(s)<sValue) return true; return false; }

void trackline(){

    while(true){

        if(analog(8)>0&&ball==0) {keep_up();ball=1;}

        if(B(2)) {ao();sleep(delay);break;}

        else if(W(0)&&W(4)) fd(power);

        else if(B(0)&&W(4)) sr(power);

        else if(W(0)&&B(4)) sl(power);

    }

}

void turn(char t,int setbody){

    if(t=='L') sl(power); else sr(power);

    if(t=='U') sleep(1400); else sleep(700);    

    ao();

    if(setbody==1){

        while(true){

            bk(power);

            if(B(5)){

                ao();

                while(!B(7)) motor(2,-power);

                ao();sleep(delay);break;

            }

            else if(B(7)){

                ao();

                while(!B(5)) motor(1,-power);

                ao();sleep(delay);break;

            }

        }

    }    

}

void moveblock(char d,int ms){

    if(d=='F') fd(100); else bk(100);

    sleep(ms);ao();sleep(10);

}

void setup()  

{

    lcd("KruRo"); 

}

void loop()

{

    switch(green){

      case 0:

        moveblock('F',800);trackline();

        turn('R',1);trackline();

        turn('R',1);trackline();

        turn('R',1);trackline();

        turn('L',1);trackline();

        keep_down();ball=0;

        green++;break;

      case 1:

        turn('U',0);

        moveblock('F',600);

        turn('R',1);

        moveblock('F',1600);

        turn('R',0);trackline();

        turn('R',1);trackline();

        turn('U',1);trackline();

        turn('L',1);

        moveblock('F',1000);

        turn('R',0);trackline();

        turn('R',0);trackline();

        turn('R',1);trackline();

        keep_down();ball=0;   

        green++;break;

      case 2:

        turn('U',0);trackline();

        turn('L',1);trackline();

        turn('L',1);trackline();

        turn('U',1);trackline();

        turn('R',1);

        moveblock('F',1000);

        turn('L',1);trackline();

        turn('L',0);trackline();

        keep_down();ball=0;   

        green++;break;

      case 3:

        turn('U',1);trackline();

         green++;break;

    default: 

        ao();break;

    }

}