void calibrate_color() {
  int i;
  int j;

  highval[20] = 0 ;
  highval[18] = 0;
  highval[4] = 0;
  highval[6] = 0;
  lowval[20] = 255;
  lowval[18] = 255;
  lowval[4] = 255;
  lowval[6] = 255;
  i = analog(4);
  i = analog(6);
  i = analog(20);
  i = analog(18);
  go_direction(0,1);
  for (j=0;j<100;j++) {
    sleep(.002);
    i = analog(20);
    highval[20] = max(i,highval[20]);
    lowval[20] = min(i,lowval[20]);
    i = analog(18);
    highval[18] = max(i,highval[18]);
    lowval[18] = min(i,lowval[18]);
    i = analog(4);
    highval[4] = max(i,highval[4]);
    lowval[4] = min(i,lowval[4]);
    i = analog(6);
    highval[6] = max(i,highval[6]);
    lowval[6] = min(i,lowval[6]);
  }
  sleep(.5);
  turn(90);
  go_direction(0,0);
}

void calibrate_color_dumb() {
  int i = 0;
  int j;
  highval[20] = 0 ;
  highval[18] = 0;
  highval[4] = 0;
  highval[6] = 0;
  lowval[20] = 0;
  lowval[18] = 0;
  lowval[4] = 0;
  lowval[6] = 0;

  printf("\ndark color");
  sleep(.3);
  start_press();
  while (i++ < 100) {
    sleep(.01);
    j = analog(16);
    highval[20] += analog(20);
    highval[18] += analog(18);
    highval[4] += analog(4);
    highval[6] += analog(6);
  }
  highval[20] = highval[20]/100;
  highval[18] = highval[18]/100;
  highval[18] = min(highval[18],64);
  highval[4] = highval[4]/100;
  highval[6] = highval[6]/100;
  printf("\nlight color");
  start_press();
  i = 0;
  while (i++ < 100) {
    sleep(.01);
    j = analog(16);
    lowval[20] += analog(20);
    lowval[18] += analog(18);
    lowval[4] += analog(4);
    lowval[6] += analog(6);
  }
  lowval[20] = lowval[20]/100;
  lowval[18] = lowval[18]/100;
  lowval[4] = lowval[4]/100;
  lowval[6] = lowval[6]/100;
  turn(90);
  go_direction(0,0);
}

void choose_bad_sensor() {
  while (stop_button() == 0) {
    printf("\nSensor: %d",badsensor);
    if (start_button()) {
      if (badsensor == 0) {
	badsensor = 18;
      } else if (badsensor == 18) {
	badsensor = 20;
      } else {
	badsensor = 0;
      }
    }      
    sleep(.1);
  }
}

void calibrate_90_turn() {
  while (digital(ARM_LOADED_SENSOR) == 0) {
    printf("\nTicks: %d",TURN_90_DIST);
    if (start_button()) {
      TURN_90_DIST = TURN_90_DIST + 1;
    } else if (stop_button()) {
      TURN_90_DIST = TURN_90_DIST - 1;
    } else if (digital(LOAD_SENSOR)) {
      sleep(.2);
      if (digital(LOAD_SENSOR)) {
	sleep(.5);
	turn(-90);
      } else {
	sleep(.5);
	turn(90);
      }
    }
    sleep(.1);
  }
}

void calibrate_half_turn() {
  while (digital(ARM_LOADED_SENSOR) == 0) {
    printf("\nTicks: %d",HALF_TURN_DIST);
    if (start_button()) {
      HALF_TURN_DIST = HALF_TURN_DIST + 1;
    } else if (stop_button()) {
      HALF_TURN_DIST = HALF_TURN_DIST - 1;
    } else if (digital(LOAD_SENSOR)) {
      sleep(.2);
      half_turn();
   }
    sleep(.1);
  }
}

void calibrate_straight() {
  while (digital(ARM_LOADED_SENSOR) == 0) {
    printf("\nSetting: %d",STRAIGHT_SETTING);
    if (start_button()) {
      STRAIGHT_SETTING = STRAIGHT_SETTING + 5;
    } else if (stop_button()) {
      STRAIGHT_SETTING = STRAIGHT_SETTING - 5;
    } else if (digital(LOAD_SENSOR)) {
      sleep(.2);
      if (digital(LOAD_SENSOR)) {
	sleep(.5);
	go_direction(0,-1);
	sleep(3.);
	go_direction(0,0);
      } else {
	sleep(.5);
	go_direction(0,1);
	sleep(3.);
	go_direction(0,0);
      }
     }
    sleep(.1);
  }
}

void calibrate_180_turn() {
  while (digital(ARM_LOADED_SENSOR) == 0) {
    printf("\nTicks: %d",TURN_180_DIST);
    if (start_button()) {
      TURN_180_DIST = TURN_180_DIST + 1;
    } else if (stop_button()) {
      TURN_180_DIST = TURN_180_DIST - 1;
    } else if (digital(LOAD_SENSOR)) {
      sleep(.2);
      if (digital(LOAD_SENSOR)) {
	sleep(.5);
	turn(-180);
      } else {
	sleep(.5);
	turn(180);
      }
    }
    sleep(.1);
  }
}

void show_sensor_data() {
  int i;
  while (1) {
    printf("\n");
    print_num(analog(4));
    printf(" ");
    print_num(analog(6));
    printf(" ");
    print_num(analog(20));
    printf(" ");
    print_num(analog(18));
    printf(" ");
    print_num(standardize_sensor(4));
    printf(" ");
    print_num(standardize_sensor(6));
    printf(" ");
    print_num(standardize_sensor(20));
    printf(" ");
    print_num(standardize_sensor(18));
    sleep(.1);
  }
}

void show_wheel_dist() {
  int i;
  while (1) {
    printf("\n%d",read_encoder(WHEEL_ENCODER));
    sleep(.1);
  }
}

void print_num(int number) {

  printf("%d",number);

  if (number < 100) {
    printf(" ");
  }

  if (number < 10) {
    printf(" ");
  }

  /*  int num_spaces;
  printf("%d",number);
  for (num_spaces = length; (10 ^ num_spaces) > number; num_spaces = num_spaces - 1) {
    printf(" ");
  }*/
}