void ask (char foo[])
{
	printf("%s\n", foo);
	while (!start_button()) {
	}
	while (start_button()) {
	}
}

void checklist ()
{
	ask("Is the rear gate centered?");
}

void wait_start ()
{
	while (!start_button()) {
	}
	while (start_button()) {
	}
}

void main ()
{
	/*
	 * Don't false start.  :)
	 */
	ir_transmit_off();

	block_spot = UNKNOWN;

	/*
	 * Calibration and setup
	 */
	setup_actuators();
	setup_ramp();
	setup_sensors();

	raise_ramp();
	sleep(0.2);
	lower_ramp();
	calibrate_light_sensors();
	calibrate_ball_sensor();
	
	/*
	 * Checklist...  :)
	 */
	checklist();

	/*
	 * Start!
	 */
	start_machine(START_SENSOR);
	ir_transmit_on();

	/*
	 * Setup again...
	 */
	setup_actuators();
	setup_ramp();

	fd(THUMPER_MOTOR);

	start_process(ramp_watcher());

	find_orientation();
	orient();

	/*
	 * Get the first ball, by pushing it into the trough.
	 * We get an extra accounted here, because we can just push it in.  Tee hee.
	 */
	drive_into_wall(0, 5.0);
	shimmy_onto_line(0);
	if (team == WHITE) {
		white_accounted++;
	} else {
		black_accounted++;
	}

	/*
	 * Drive forward to the outside of the table and get the second ball.
	 * Also, sense where the block is!
	 */
	drive_ticks(1, 150);
	if (team == WHITE) {
		if (get_analog(LEFT_DISTANCE, 3) > 65) {
			block_spot = SOUTH_EAST;
		}
	} else {
		if (get_analog(RIGHT_DISTANCE, 3) > 65) {
			block_spot = SOUTH_EAST;
		}
	}
	drive_ticks(1, 150);
	if (team == WHITE) {
		if (get_analog(LEFT_DISTANCE, 3) > 65) {
			block_spot = SOUTH_WEST;
		}
	} else {
		if (get_analog(RIGHT_DISTANCE, 3) > 65) {
			block_spot = SOUTH_WEST;
		}
	}
	drive_into_wall(1, 5.0);

	/*
	 * Reverse to the inside.
	 */
	if (team == WHITE) {
		start_process(open_gate_after(WHITE, 1.8));
	} else {
		start_process(open_gate_after(BLACK, 1.8));
	}
	drive_into_wall(0, 5.0);

	/*
	 * Dump it.
	 */
	sleep(2.0);

	if (team == WHITE) {
		close_white_gate();
	} else {
		close_black_gate();
	}

	shimmy_onto_line(0);

	printf("Block is: %d\n", block_spot);

	if (block_spot == SOUTH_EAST) {
		drive_ticks(1, 500);
		if (team == WHITE) {
			backup_left(90);
		} else {
			backup_right(90);
		}
		drive_into_wall(0, 5.0);

		drive_ticks(1, 200);
		while (!GRABBING_BALL) {
		}
		while (GRABBING_BALL) {
		}
		inch_to_ball();
		while (GRABBING_BALL) {
		}
		drive_into_line(1, 5.0);
		drive_ticks(0, 70);
		if (team == WHITE) {
			backup_right(90);
		} else {
			backup_left(90);
		}
		if (team == WHITE) {
			start_process(open_gate_after(WHITE, 0.5));
		} else {
			start_process(open_gate_after(BLACK, 0.5));
		}		
		drive_into_wall(0, 5.0);
		sleep(2.0);
		if (team == WHITE) {
			close_white_gate();
		} else {
			close_black_gate();
		}
	} else if (block_spot == SOUTH_WEST) {
		drive_ticks(1, 290);
		if (team == WHITE) {
			backup_left(90);
		} else {
			backup_right(90);
		}
		drive_into_wall(0, 5.0);

		drive_ticks(1, 200);
		while (!GRABBING_BALL) {
		}
		while (GRABBING_BALL) {
		}
		inch_to_ball();
		while (GRABBING_BALL) {
		}
		drive_into_line(1, 5.0);
		drive_ticks(0, 70);

		if (team == WHITE) {
			backup_right(90);
		} else {
			backup_left(90);
		}
		if (team == WHITE) {
			start_process(open_gate_after(WHITE, 0.6));
		} else {
			start_process(open_gate_after(BLACK, 0.6));
		}		
		drive_into_wall(0, 5.0);
		sleep(2.0);
		if (team == WHITE) {
			close_white_gate();
		} else {
			close_black_gate();
		}

		drive_into_wall(1, 5.0);
		if (team == WHITE) {
			start_process(open_gate_after(WHITE, 1.6));
		} else {
			start_process(open_gate_after(BLACK, 1.6));
		}		
		drive_into_wall(0, 5.0);
		sleep(2.0);
		if (team == WHITE) {
			close_white_gate();
		} else {
			close_black_gate();
		}
	} else {
		drive_ticks(1, 300);
		if (team == WHITE) {
			turn_180(0);
		} else {
			turn_180(1);
		}
		drive_into_wall(0, 5.0);
		if (team == WHITE) {
			turn_right(90);
		} else {
			turn_left(90);
		}
		drive_into_wall(0, 5.0);
		shimmy_onto_line(0);
		drive_into_line(1, 5.0);
		if (team == WHITE) {
			start_process(open_gate_after(BLACK, 1.8));
		} else {
			start_process(open_gate_after(WHITE, 1.8));
		}
		drive_into_wall(0, 5.0);
	}
}

void balls ()
{
	while (1) {
		printf("White: %d (%d)    Black: %d (%d)\n", white_accounted, white_balls, black_accounted, black_balls);
		sleep(0.1);
	}
}