#include <ipst.h>        // IPST-SE Board
int reff0, reff1;
void setup() {
  reff0 = 629;
  reff1 = 621;
  sopen();
  OK();
}

void loop() 
 {
  rstart();
  forward();
   forward();
  turnl();
  forward();
  turnl();
  forward();
   turnl();
   forward();
    turnr();
   forward();
    forward();
     turnl();
    forward();
     turnr();
      forward();
      turnl();
      forward();
       turnl();
       sforward();
        sclose();
        turnu();
        forward();
        turnr();
          forward();
           turnr();
           forward();
           turnl();
            forward();
              turnr();
               forward();
               forward();
                turnl();
                forward();
                turnr();
                forward();
                  turnr();
                   forward();
                     turnr();
                 forward();
                  forward();
                   sopen();

 
   
  rstop();
  


 }


-----  f_turn ---
void turnr()
{
  sr(30);
  delay(500);
  while(analog(0)>reff0);
  ao();
}

void turnl ()
{
  sl(30);
  delay(500);
  while(analog(1)>reff0);
  ao();
}
void turnu ()
{
 sl(30);
  delay(500*2);
  while(analog(0)>reff0);
  ao();
}



------  forward   ------
void forward()
 {
  while(true)
  {
 if (analog(0)<reff0 && analog(1)>reff1)tl(70);
 else if (analog(0)>reff0 && analog(1)<reff1)tr(70);
 else if (analog(0)>reff0 && analog(1)>reff1)fd(50);
 else if (analog(0)<reff0 && analog(1)<reff1)break;
  }
  fd(30);
  delay(200);
}

void rstart()
{
  fd(50);
  delay(260);
}
void rstop()
 {
  ao();
  while (1);
}
void sforward()
 {
  while(true)
  {
 if (analog(0)<reff0 && analog(1)>reff1)tl(70);
 else if (analog(0)>reff0 && analog(1)<reff1)tr(70);
 else if (analog(0)>reff0 && analog(1)>reff1)fd(50);
 else if (analog(0)<reff0 && analog(1)<reff1)break;
  }
  ao();
}



-----   lbcxv_cv  ---

void readadc()
{
setTextSize(1);
 glcd(0,0,"sensor1 = %d   ",analog(0));
 glcd(1,0,"sensor1 = %d   ",analog(1));
}




-----  tfrtuvgfjf  ----
void sopen()
{
  servo(0, 120);
  delay(250);
}

void sclose()
{
  servo(0, 35);
  delay(250);
}