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// Robot na MiniSumo pro Model Hobby 2004
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// $Archive: /Lego/ModelHobby2004.nqc $
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// $Date: 2.10.04 0:44 $
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// $Revision: 3 $
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#define THRESHOLD  65      // rozhodovaci uroven mezi cernou a bilou
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#define FTHRESHOLD 100     // Rozhodovaci uroven dalkoveho sensoru
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#define POHON      OUT_A   // Motory
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#define MULETA     OUT_C
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#define VPRED      OnFwd(POHON)
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#define VZAD       OnRev(POHON)
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#define NAHORU     OnRev(MULETA)
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#define DOLU       OnFwd(MULETA)
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#define PREDNI     SENSOR_1   // Sensory na okraj
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#define ZADNI      SENSOR_3
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#define BUMPER     SENSOR_2   // Dalkovy sensor
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task main()
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{
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  PlaySound (SOUND_DOUBLE_BEEP);
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  Wait(400); // 5s podle pravidel - prvni prodleva procedury zapas
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  SetSensor(PREDNI,SENSOR_LIGHT);   // senzor na caru predni
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  SetSensor(ZADNI,SENSOR_LIGHT);   // senzor na caru zadni
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  // sensor na prekazku
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  SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
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  SetTxPower(TX_POWER_HI);    // aby daleko videl
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  SetPower (POHON,OUT_FULL);     // vykon motoru
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  SetPower (MULETA,OUT_HALF);
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  start radar;
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  start zapas;
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  start nevypadni;
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  start toro;
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}
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task toro()
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{
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  int i=1;
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  while(true)
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  {
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     if (i++ & 1) {DOLU;} else {NAHORU;};
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     Wait(50);
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     Off(MULETA);
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     Wait(200);
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  }
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}
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task zapas()
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{
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  Wait(100);
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  while(true)
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  {
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     VZAD;
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     Wait(50);
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     Off(POHON);
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     Wait(100);
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     VPRED;
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     Wait(50);
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     Off(POHON);
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     Wait(100);
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     Off(POHON);
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     Wait(100);
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  }
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}
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task nevypadni()
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{
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  while(true)
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  {
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     if (THRESHOLD > PREDNI)    // Cara vpredu
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     {
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        stop zapas;
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        stop radar;
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        PlaySound (SOUND_FAST_UP);
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        VZAD;
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        Wait(50);
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        start radar;
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        start zapas;
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     }
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     else
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     if (THRESHOLD > ZADNI)    // Cara vzadu
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     {
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        stop zapas;
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        stop radar;
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        PlaySound (SOUND_FAST_UP);
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        VPRED;
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        Wait(50);
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        start radar;
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        start zapas;
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     }
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  } // while(true)
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}
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task radar() // dalkovy sensor
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{
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  int lastlevel;
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  lastlevel = 0;
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  while(true)
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  {
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    SendMessage(0);
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    if(lastlevel > BUMPER)  // vidime robota?
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    {
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      stop zapas;
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      PlaySound(SOUND_DOWN);
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      VPRED;
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      Wait(50);
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    }
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    lastlevel = BUMPER;
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    lastlevel -= FTHRESHOLD;
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  }
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}
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