/*Competition Code for 6.270 for Team #11 */
void main()
{
  long timeout = 1000l;
  long start_time_ms;
  int xpos, ypos, ourwinner;
  startup(); /*Runs all the startup stuff: servos, ir etc */
  teamnumber = determine_teamnumber();
  tone(440.0, .1);
  ourwinner = -ourcolor; /*0 =red, 1 =green, 0 = white 1 = black */
  retract_pusher();
  closeballgate();
  /*push the first four to the wall*/
  forward(60, 300.);
  /*spit them out */
  push_balls();
  /*pick up the bottom-side top two */
  navigateTo(0, (teamsign*222));
  /*pick up the bottom-side bottom two */
  navigateTo((teamsign*160), (teamsign*222));
  /*pick up the left-side bottom two */
  navigateTo((teamsign*0), (teamsign*222));
  navigateTo((teamsign*0), (teamsign*280));
  navigateTo((teamsign*221), (teamsign*280));

  /*pick up the left-side right two */
  navigateTo((teamsign*221), (teamsign*85));
  navigateTo((teamsign*221), (teamsign*280));

  /*get to the center of the voting area */
  navigateTo((teamsign*235), (teamsign*280));
  navigateTo((teamsign*235), (0));

  /*if we're losing, vote */ 
  if(!(rf_vote_winner == ourwinner))
    { 
      turnangle(90.0);
      printf("Preparing to Vote\n");
      forward(80, 50.);
      backup(80, 20.);
      printf("Voting\n");
      push_balls();
      turnabs(180.);
    }
  /*pick up the left-side four and slam into the white goal*/
  navigateTo((-teamsign*255), (-teamsign*300));

  /*pick up the top-side left two*/
  /*pick up the top-side right two*/
  /*go to the wall and turn to face our top-right scoring area */
  /*push through their scoring area and into ours*/
  navigateTo(teamsign*(235),-teamsign*(325));
  navigateTo(teamsign*(235),-teamsign*(222));
  navigateTo(teamsign*(150),-teamsign*(222));
  navigateTo(teamsign*(221),-teamsign*(222));
  navigateTo(teamsign*(221),-teamsign*(280));
  navigateTo(teamsign*(150),-teamsign*(280));
  navigateTo(teamsign*(150),-teamsign*(330));
  navigateTo(-teamsign*(230),-teamsign*(330));
  navigateTo(-teamsign*(230),teamsign*(330));

  /*hope we didn't lose to an inanimate cube*/
  printf("Did I win?");
  upscale();
  downscale();
  upscale();
  downscale();
}