void main()
{
  ir_transmit_off();
  
  calibrate();     /* IN calibrat.c  */

  start_machine(26);

  /*  start_process(heinz());*/

  down();
  orient();
  lights_on();


 
  start_process(stall());




  /* Drive Forward toward the first ball */

  pid_df = start_process(drive_forward());
  sleep(1.0);
  while(!mine(fm, threshold_ctr));

  /*Stop when it hits wall*/
  while(!(digital(9) || digital(10) || stalled));
  stop_going_forward();

  /* Attempt to grab the ball*/
  hold();
  sleep(0.5);
  back_up_little();
  sleep(0.5);

  /* If there's no ball, put down the ramp to avoid squishage */
  if (!got_ball())
    down();

  /*  Drive back to the line */
  bk(1);
  pid_db = start_process(drive_backward());
 while(!(mine(light_port[1], threshold[1]) || mine(light_port[2], threshold[2]) || stalled));
  stop_going_backward();


  if (got_balls()) {
   pid_db = start_process(drive_backward());
   sleep(2.3);
   stop_going_backward();
   shoot();
   down();

   /* now drive back towards line and commence with TL90 */
   pid_df = start_process(drive_forward());
   sleep(1.0);
   while(!(mine(light_port[1], threshold[1]) || mine(light_port[2], threshold[2]) || stalled));
   stop_going_forward();
  }


  while (1)
    {
      
      /*  Turn Left 90 degrees toward the other ball  and MARCH!!! */
      tl90();
      pid_df = start_process(drive_forward());
      
      
      /* STOP when it crushes into the wall hopefully with the big huge slimy green ball*/
      while(!(digital(9) || digital(10) || stalled));
      stop_going_forward();
      
      
      /*  Attempt to grab the ball */
      hold();
      sleep(0.5);
      back_up_more();
      sleep(0.5);

      /*  If rejected, put down the ramp */
      if (!got_ball())
	down();
      
      /*  Moon the oppoenent, run away*/
      tr90();
      pid_df = start_process(drive_forward());
      while(!(digital(9) || digital(10) || stalled));
      stop_going_forward();
      
      /*  Give a better mooning */
      pid_db = start_process(drive_backward());
      


      while(!(mine(light_port[1], threshold[1]) || mine(light_port[2], threshold[2]) || stalled));
      stop_going_backward();
      
      /* if we don't have much time, stop what we are doing and
         execute endgame strategy */

       if (seconds() > 50.0) {
	 endgame_strategy(ENEMY_TERRITORY);
      }

  if (got_balls()) {
   pid_db = start_process(drive_backward());
   sleep(2.3);
   stop_going_backward();
   shoot();
   down();

   /* now drive back towards line and commence with TL90 */
   pid_df = start_process(drive_forward());
   sleep(1.0);
   while(!(mine(light_port[1], threshold[1]) || mine(light_port[2], threshold[2]) || stalled));
   stop_going_forward();
  }
      /* If you still got hold of the ball */
  /*      if (got_balls())
	  {*/
	  /*  Poop bomb */
  /*	  can_i_shoot(ENEMY_TERRITORY);*/
	  /* flush */
  /*	  down();
	  }*/
      
      /*  Show them your cheek */
      tr90();
      
      /*  We got them now! */
      pid_df = start_process(drive_forward());
      while(!(digital(9) || digital(10) || stalled));
      stop_going_forward();
      
      /*  If you are lucky enough to get more balls on one night */
      hold();
      sleep(1.0);
      back_up_more();
      
      /*  Had enough for one night?  */
      if (!got_ball())
	down();
      
      /*  Give them another good look at the hole, and then tease 'em*/
      tl90();
      pid_df = start_process(drive_forward());
      while(!(digital(9) || digital(10) || stalled));
      stop_going_forward();
      
      /* if we don't have much time, stop what we are doing and
         execute endgame strategy */

       if (seconds() > 50.0) {
	 endgame_strategy(OUR_SIDE);
      }

  if (got_balls()) {
   pid_db = start_process(drive_backward());
   sleep(2.3);
   stop_going_backward();
   shoot();
   down();

   /* now drive back towards line and commence with TL90 */
   pid_df = start_process(drive_forward());
   sleep(1.0);
   while(!(mine(light_port[1], threshold[1]) || mine(light_port[2], threshold[2]) || stalled));
   stop_going_forward();
  }
  
  /*  OH GOD YOU ARE WILD TONIGHT!!!! */
  /*  if (got_balls()) */
  /*    {*/
      /*  Let it go, dude */
  /*      can_i_shoot(OUR_SIDE);*/
      /* Put your hands away*/
  /*      down();*/
  /*    }*/
    }
}


void endgame_strategy(int side) {
  if (where_ir() == SOUTH && (analog(2) > 30))
    {
      if (side == ENEMY_TERRITORY)
	tr90();
      else
	tl90();
      shoot();
    }
  else
    {
      pid_db = start_process(drive_backward());
      while (!stalled);
      if (!(mine(light_port[3], threshold[3]) || mine(light_port[4], threshold[4])))
	shoot();
    }



}