/* Robot Rescue

In this example, the robot enters the line following mode and
plays some music until it reaches its target. Once it finds the
target, it pushes it out of the track. It then returns to the
track and looks for a second target.
You can make the robot push as many objects as you want to, just
add more to calls to the rescue function or even move that code
into the loop.
Circuit:
* Arduino Robot
* some objects for the robot to push
* a line-following circuit
created 1 May 2013
by X. Yang
modified 12 May 2013
by D. Cuartielles
This example is in the public domain
*/
#include <ArduinoRobot.h> // include the robot library
#include <Wire.h>
#include <SPI.h>
void setup() {
// initialize the Robot, SD card, display, and speaker
Robot.begin();
Robot.beginTFT();
Robot.beginSD();
Robot.beginSpeaker();
// draw "lg0.bmp" and "lg1.bmp" on the screen
Robot.displayLogos();
// display the line following instructional image from the SD card
Robot.drawBMP("lf.bmp", 0, 0);
// play the chase music file
Robot.playFile("chase.sqm");
// add the instructions
Robot.text("Rescue\n\n place the robot on\n the rescue track\n pushing the\n o
bstacles away", 5, 5);
Robot.text("Press the middle\n button to start...", 5, 61);
Robot.waitContinue();
// start
Robot.fill(255, 255, 255);
Robot.stroke(255, 255, 255);
Robot.rect(0, 0, 128, 80); // erase the previous text
Robot.stroke(0, 0, 0);
Robot.text("Start", 5, 5);
// use this to calibrate the line following algorithm
// uncomment one or the other to see the different behaviors of the robot
// Robot.lineFollowConfig(14, 9, 50, 10);

Robot.lineFollowConfig(11, 7, 60, 5);

// run the rescue sequence
rescueSequence();
// find the track again
goToNext();
// run the rescue sequence a second time
rescueSequence();
// here you could go on ...
}
void loop() {
//nothing here, the program only runs once.
}
// run the sequence
void rescueSequence() {
//set the motor board into line-follow mode
Robot.setMode(MODE_LINE_FOLLOW);
while (!Robot.isActionDone()) { // wait until it is no longer following the li
ne
}
delay(1000);
// do the rescue operation
doRescue();
delay(1000);
}
void doRescue() {
// Reached the endline, engage the target
Robot.motorsWrite(200, 200);
delay(250);
Robot.motorsStop();
delay(1000);
// Turn the robot
Robot.turn(90);
Robot.motorsStop();
delay(1000);
// Move forward
Robot.motorsWrite(200, 200);
delay(500);
Robot.motorsStop();
delay(1000);
// move backwards, leave the target
Robot.motorsWrite(-200, -200);
delay(500);
Robot.motorsStop();
}
void goToNext() {
// Turn the robot
Robot.turn(-90);

Robot.motorsStop();
delay(1000);
}