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#include "xbccamlib.ic"#include "botball.ic"#define CLAW_MOTOR            0      #define CLAW_ARM_MOTOR        1#define HOPPER_MOTOR          2#define HOPPER_TOP_SENSOR     14#define HOPPER_ROTATE_SENSOR  15#define RED                   0#define GREEN                 1int color_channel;void main() {    create_connect();        init_camera();    track_update();    while (!check_channel(RED) && !check_channel(GREEN)) {        track_update();    }    if (find_closest_blob_y(RED) > find_closest_blob_y(GREEN)) {        color_channel = RED;    } else {        color_channel = GREEN;    }        printf("%d\n",color_channel);        create_disconnect();}int find_closest_blob_y (int channel) {    return track_y(channel,find_closest_blob(channel));}int find_closest_blob (int channel) {    int closest = 0;    int i;    for (i = 1; i < track_count(channel); i++) {        if (track_y(channel,i) > track_y(channel,closest)) {            closest = i;        }    }    return closest;}int check_channel (int channel) {    if (track_count(channel)) {        int i;        for (i = 0; i < track_count(channel); i++) {            if (track_y(channel,i) > 100) {                return 1;            }        }    }}void get_fuzzball () {    claw_arm_down();    create_drive_straight(400);    sleep(.3);    create_stop();    claw_close();    if (color_channel == RED) {        hopper_down();    }    claw_arm_up();    claw_open();    if (color_channel == RED) {        hopper_up();    }}void claw_open () {    mrp(CLAW_MOTOR,1000,-40L);    bmd(CLAW_MOTOR);}void claw_close () {    mrp(CLAW_MOTOR,1000,40L);    bmd(CLAW_MOTOR);}void claw_arm_down () {    mrp(CLAW_ARM_MOTOR,1000,500L);    bmd(CLAW_ARM_MOTOR);}void claw_arm_up () {    mrp(CLAW_ARM_MOTOR,1000,-500L);    bmd(CLAW_ARM_MOTOR);}void hopper_down () {    int ticks = 0;    bk(HOPPER_MOTOR);    while (ticks < 12) {           while(digital(HOPPER_ROTATE_SENSOR)) { }        while(!digital(HOPPER_ROTATE_SENSOR)) { }        ticks++;    }    ao();}void hopper_up () {    fd(HOPPER_MOTOR);    while (!digital(HOPPER_TOP_SENSOR)) { }    ao();}