/* orient.c */
#define DEBUG 1

#define LED_PORT_1 3
#define LED_PORT_2 4
#define LED_PORT_3 2 
#define LED_PORT_4 24
#define LED_PORT_5 6
#define LED_PORT_6 31
#define LED_PORT_7 29 
#define LED_PORT_8 5
/* LED_PORT_8 unused */

#define START_SENSOR 26

#define BACK_RIGHT 13
#define BACK_LEFT 14
#define FRONT_RIGHT 11
#define FRONT_LEFT 12

#define START_BUTTON 20
#define STOP_BUTTON 18


#define SAMPLES 5
#define LEDS 8



/* motor.c */

#define LEFT_MOTOR_1 0
#define LEFT_MOTOR_2 1
#define RIGHT_MOTOR_1 2
#define RIGHT_MOTOR_2 3
#define ROLLER_MOTOR 5
#define RIGHT_ENCODER 7
#define LEFT_ENCODER 8

#define FULL_SPEED 100
#define THREE_QUARTERS_SPEED 75
#define HALF_SPEED 50
#define QUARTER_SPEED 25
#define OFF 0

#define SPEED_FULL 100
#define SPEED_5_6 83
#define SPEED_2_3 66
#define SPEED_1_2 50
#define SPEED_1_3 33
#define SPEED_1_6 15
#define SPEED_OFF 0


#define RIGHT_TICKS 14
#define LEFT_TICKS 14
#define BACKWARD_TICKS_RIGHT 29
#define BACKWARD_TICKS_LEFT 29

#define RIGHT_VEER 4
#define LEFT_VEER 4

#define SLEEP_TIME 0.02
#define STEP_BACK_SLEEP_TIME 0.70
#define STEP_FORWARD_SLEEP_TIME 0.5

 
/* linefollow.c */

#define MODULUS 5




int front_right = 0;
int front = 0;
int front_left = 0;
int back_right = 0;
int back_left = 0;
int center_left = 0;
int center_right = 0;


int action = 0; /* keeps the direction it moved in linefollow */


void readSensors()
{
  front = isBlue(LED_PORT_5);
  front_right = isBlue(LED_PORT_6);
  front_left = isBlue(LED_PORT_7);
  back_right = isBlue(LED_PORT_4);
  back_left = isBlue(LED_PORT_3);
  center_right = isBlue( LED_PORT_1);
  center_left = isBlue( LED_PORT_2);


}