/* Uses calibrate.c orient.c moving.c sensors.c strategy.c test_Yao.c*/

void main() {
  int direction;
  runrobot();
}

/* Testing calibration */


void runrobot() {
  int direction;

  activate_robot();
  calibrate();
  direction = orientation(); /* 0 = forward, 1 = left, 2 = back, 3 = right */
  
  if (direction == 0) {
    turnleft90();
    direction++;
  }
  else if (direction == 2) {
    turnleft90();
    direction++;
  }

  gethackers(direction,80);
  getprofessor(direction,80);
  forward(50);
  whileencoders(1,100);
  frontarmup();
  forwarduntilbumper(1,100);
  if (direction == 1)
    wallturn90(2,-60);
  else {
    backabit();
    turnright90();
    /*    wallturn90(1,-60);
	  wallturn90(1,-60);*/
  }

  backwarduntilbumper(0,50);
  forwarduntilbumper(1,80);

  if (direction == 1)
    wallturn90(2,-60);
  else {
    wallturn90(1,-60);
  }

  backarmup();
  if (direction == 1)
    forwardslightright(100);
  else 
    forwardslightleft(100);
  whileencoders(1,1200);
  backward(100);
  whileencoders(2,800);

  if (direction == 1)
    turnleft90();
  else
    turnright90();
  while(1) {
  forwarduntilbumper(0,100);
  backwarduntilbumper(0,100);
  }
}