void main() {
  int pid;
  int to;
  int ball = 0;
  int count; /*used to keep track of times through while loops*/

  enable_encoder(7);
  enable_encoder(8);
  enable_servos();
 
  armUp();
  rampDown();

  /*calibrate turns*/
  calibrateRight90();
  calibrateLeft90();
  calibrateRight180();
  calibrateLeft180();
  calibrateStraight();

  /*calibrate white and black colors*/
  printf("\nplace rr on white, rl on black");
  while(!(start_button())) {
    sleep(.1);
  }
  getValues();
  sleep(1.);
  
  while(!(start_button())) {
    printf("\norient me");
  }  
  
  /*START*/
  start_machine2(16, 20);
  
  enable_encoder(7);
  enable_encoder(8);
  enable_servos();

  rampDown();
  armUp();

  /*Turn and face up*/
  orient();

  /*go get top ball*/
  to = forwardToBallTimeout(75, (long) 5000);
  count = 0;
  while (to && count < 2) { /*if times out and tried no more than 3 times*/
    printf("\ntimed out!!!");
    backwardCountTicksUntilTimeout(50, (long) 2000);
    if (side == 1) {
      left90(-30); /*turn away from wall*/
      to = forwardToBallTimeout(75, (long) 5000); /*try again*/
    }
    else if (side == 0) {
      right90(-30); /*turn away from wall*/
      to = forwardToBallTimeout(75, (long) 5000); /*try again*/
    }
    count++;
  }
  sleep(.05);
  ball = getBall();

  /*backup from wall*/
  to = backwardCountTicksUntilTimeout(50, (long) 3000);
  count = 0;
  if (to) {
    count = TOBackupCountTicks(50, (long) 3000);
  }
  if (count > 2) {
    lost();
  }

  sleep(.25);

  /*turn around*/
  if (side == 1) { /*black side*/
    count = 0;
    to = right180(0);
    while (to && count < 2) {
      printf("\ntimed out!!!");
      if (backRightHit() || backSideRightHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = right90(-right90ticks/2);
      }
      else if (backLeftHit() || backSideLeftHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = right90(-right90ticks*2/3);
      }
      else {
	left90(-left90ticks/2);
	sleep(.25); 
	backwardCountTicksUntilTimeout(125, (long) 3000);
	sleep(.25);
	right90(-right90ticks/3);
	sleep(.25);
	forwardUntilHitTimeout((long) 2000);
	sleep(.25);
	to = right180(0);
      }
      count++;
    } /*while*/
    if (count > 2) {
      lost();
    }
  } else { /*white side*/
    to = left180(0);
    count = 0;
    while (to && count < 2) {
      printf("\ntimed out!!!");
      if (backRightHit() || backSideRightHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = left90(-left90ticks*2/3);
      }
      else if (backLeftHit() || backSideLeftHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = left90(-left90ticks/2);
      }
      else {
	right90(-right90ticks/2);
	sleep(.25); 
	backwardCountTicksUntilTimeout(125, (long) 3000);
	sleep(.25);
	left90(-left90ticks/3);
	sleep(.25);
	forwardUntilHitTimeout((long) 2000);
	sleep(.25);
	to = left180(0);
      } /*while*/
      count++;
    }
    if (count > 2) {
      lost();
    }
  }

  to = backwardIntoWall((long) 3000);
  count = 0;
  while (to && count < 2) {
    printf("\ntimed out!!!");
    if (backRightHit() || backSideRightHit()) {
      forwardCountTicksUntilTimeout(25, (long) 2000, 0);
      sleep(.25);
      left90(-left90ticks/2);
      to = backwardIntoWall((long) 3000);
      }
    else if (backLeftHit() || backSideLeftHit()) {
      forwardCountTicksUntilTimeout(25, (long) 2000, 0);
      sleep(.25);
      right90(-right90ticks/2);
      to = backwardIntoWall((long) 3000);
    }
    count++;
  }
  if (count > 2) {
    lost();
  }
  sleep(.25);

  /*drive to bottom*/
  to = forwardToDropBallTimeout((long) 8000);
  count = 0;
  while (to && count < 2) {
    printf("\ntimed out!!!");
    if (frontRightHit() || frontSideRightHit()) {
      backwardCountTicksUntilTimeout(25, (long) 2000);
      sleep(.25);
      left90(-left90ticks/2);
      to = forwardToDropBallTimeout((long) 8000);
    }
    else if (frontLeftHit() || frontSideLeftHit()) {
      
	backwardCountTicksUntilTimeout(25, (long) 2000);
	sleep(.25);
	right90(-right90ticks/2);
	to = forwardToDropBallTimeout((long) 8000);
     
    }
    else if (ball) {
      rampDown();
    }
    count++;
  }
  if (count > 2) {
    if (ball) {
      rampDown();
    }
    lost();
  }

  stop();
  sleep(.25);

  /*backup to prepare for turn*/
  to = backwardCountTicksUntilTimeout(25, (long) 2000);
  count = 0;
  if (to) {
    count = TOBackupCountTicks(25, (long) 2000);
  }
  if (count > 2) {
    lost();
  }

  sleep(.25);

  /*turn toward opponent side*/
  if (side == 1) {
    to = left90(3);
  }
  else if (side == 0) {
    to = right90(3);
  }
  count = 0;
  if (to) {
    count = TOTurn90(3);
  }
  if (count > 2) {
    lost();;
  }

  /*line up to drive to opponent's side*/
  to = backwardIntoWall((long) 3000);
  count = 0;
  while (to && count < 2) {
    printf("\ntimed out!!!");
    if (backRightHit() || backSideRightHit()) {
      forwardCountTicksUntilTimeout(25, (long) 2000, 0);
      sleep(.25);
      left90(-left90ticks/2);
      to = backwardIntoWall((long) 3000);
      }
    else if (backLeftHit() || backSideLeftHit()) {
      forwardCountTicksUntilTimeout(25, (long) 2000, 0);
      sleep(.25);
      right90(-right90ticks/2);
      to = backwardIntoWall((long) 3000);
    }
    count++;
  }
  if (count > 2) {
    lost();
  }

  /*drive to opponent's side*/
  to = forwardCountTicksUntilTimeout(1000, (long) 6000, 1);
  /*might be nice to return how many ticks we've travelled if we hit something*/
  count = 0;
  count = TOForwardCountTicks(400, (long) 3000, 1);
  if (count > 2) {
    lost();
  }

  /*turn towards opponents balls*/
  if (side == 1) {
    to = left90(8);
  }
  else if (side == 0) {
    to = right90(8);
  }
  count = 0;
  if (to) {
    count = TOTurn90(8);
  }
  if (count > 2) {
    lost();
  }

  /*gather his balls*/
  /* armDown();*/

  sleep(.05);
  to = forwardCountTicksUntilTimeout(300, (long) 5000, 0);
  count = 0;
  count = TOForwardCountTicks(300, (long) 5000, 0);
  if (count > 2) {
    lost();
  }

  /*turn back to our side*/
  if (side == 1) {
    to = left90(8);
  }
  else if (side == 0) {
    to = right90(8);
  }
  count = 0;
  if (to) {
    count = TOTurn90(8);
  }
  if (count > 2) {
    lost();
  }

  /*drive back to our side*/
  to = forwardCountTicksUntilTimeout(300, (long) 4000, 0);
  count = TOForwardCountTicks(300, (long) 3000, 0);
  if (count > 2) {
    lost();
  }

  spinLeft();
  sleep(2.0);
  stop();
  /*armUp();
  sleep(.5);
  armDown();
  sleep(.5);
  armUp();
  sleep(.5);
  armDown();
  sleep(.5);*/
  sleep(2.);
  armUp();
  lost();
}

void wait() {
  while(!(start_button())) {
    printf("\nwait...press start");
    sleep(.5);
  }
}

void lost() {
  while(1) {
    printf("\nI'M LOST!!!!!!!!!!!!");
    armUp();
    forwardUntilHitTimeout((long) 4000);
    backwardCountTicksUntilTimeout(75, (long) 2000);
    armDown();
    sleep(.5);
    armUp();
    right90(-right90ticks/3);
    sleep(.4);
  }
}