Anonymous

#include "stdio.h"#include "stdlib.h" #define RTHRESH_BLACK 50#define LTHRESH_BLACK 50#define RTHRESH_GREY 40#define LTHRESH_GREY 40 int LSENSOR=1;int RSENSOR=2;int retval=0;int nothing; void untilfunction(int obst){ switch (obst) {  /* The first selection */  /* turn left opun black line */  case 1:   if (LSENSOR<=LTHRESH_BLACK || RSENSOR<=RTHRESH_BLACK)   { retval=1; }   else   { retval=0; }   break;   /* pre-gate selection */  /* returns true wgeb both sensors hit grey */  case 2:   printf ("if %d<=%d",LSENSOR,LTHRESH_GREY);   if (LSENSOR<=LTHRESH_GREY && RSENSOR<=RTHRESH_GREY)   { retval=1; }   else   { retval=0; }   break;   }}  void initsensors(){/* SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_LIGHT); SetSensorMode(SENSOR_1, SENSOR_MODE_PERCENT); SelectDisplay(DISPLAY_SENSOR_1); */} void turnleft(){ /* OnFwd(LMOTOR); OnRev(RMOTOR); Wait(200); Off(OUT_A+OUT_C); */} void leftpath() { printf("PATH: %s SENSOR: %d\n", "LEFT  ", LSENSOR );}void rightpath() { printf("PATH: %s SENSOR: %d\n", "RIGHT ", LSENSOR);} void followline(int untilobst){ while (1) { untilfunction(untilobst); if (retval==1) { printf("return\x0a"); return; }  {   if (LSENSOR<=LTHRESH_BLACK)   {    rightpath();   }   else if (RSENSOR<=RTHRESH_BLACK)   {    printf("%s", "HELLO");    leftpath();   }   else { printf("CURRENT PATH: %s SENSOR: %d\x0a", "PREVIOUS ",LSENSOR); }   if (LSENSOR==49) { RSENSOR=51; }   LSENSOR-=1;   RSENSOR-=1;  } } printf("grey sensors hit\x0a"); } int main(){ LSENSOR=60; RSENSOR=60; followline(2);}