void fetch_cont()
{
  moveFetch();
  moveTurn (180.0, 8);
  fetch_cont();
}
 

void main()
{
  int swallow_pid, status, homeColor, enemyColor, orientation, threshold, line_follow_pid, fetch_pid ;
  float temptime;
  long movefwd = 50L;
  long movefwd1 = 1150L;

  ir_transmit_off();
  lineOnLED();
 

  lineCalibrate();
  lineOffLED();
  start_machine2(ANALOG_CDS_START, 2);

  ir_transmit_on();
  lineOnLED();
  enable_servos();
  servo(1,0); /*keep yer damn arm down!*/

  swallow_pid = start_process(lineBallDigital()); /*continuosly swallows anything that gets in the mouth*/

  printf("Getting line orientation.\n"); 
  orientation = lineOrientation();
  homeColor = orientation % 4;

  printf("Moving in orientation %d.", orientation);
  status = moveInitial(orientation);  /*moveInitial should now get all orientations to face enemy side*/

  if ((orientation == LEFT) || (orientation == (4+LEFT)))
    {
     printf ("Fetching our ball\n");  
     status = moveFetch(); 
     beep();

     printf ("Turning around\n");
     moveTurnUnguarded(-90.0,8);
     moveTurnUnguarded(-90.0,8);
 

     /* moveTurnUnguarded (-180.0,8);
      */
     
     printf ("Fetching enemy ball\n");  
     status = moveFetch();
     beep();

     printf ("Getting out of here!\n");
     moveUnguardedTimed(-8,-8,5000L);
    }
  else if ((orientation == FORWARD) || (orientation == (4+FORWARD)))
    {
      status = moveInitialSwing(FORWARD);
      status = moveSweepSwing();
    }
  else if ((orientation == BACKWARDS) || (orientation == (4+BACKWARDS)))
    {
      status = moveInitialSwing(BACKWARDS);
      status = moveSweepSwing();
    }
      
  else{
    printf ("Fetching enemy ball\n");  
    status = moveFetch();
    beep();
    printf ("Turning left\n");
    moveTurnUnguarded(90.0, 8);
    moveUnguardedTimed(-8,-8,960L);
    printf ("Turning left towards hill\n");   
    moveTurnUnguarded(90.0, 8);
    armExtend();
    moveGuarded(8,8);
    msleep(400L);
    printf ("At hill\n");
    beep();
    while (seconds() <= 43.0)
      {
      }
    printf ("RUN AWAY!\n");    
    armRetract();
    moveUnguardedTimed(-8,-8,720L);
    moveTurnUnguarded(-90.0,8);
    moveUnguardedTimed(8,8,960L);
    moveTurnUnguarded(90.0,8);  /*fickle*/
    move(8,8);
    
  }

}