ࡱ>  Root EntryPqMAIN /RSCOMPSTG1ODB/sWPqPqCONTENTS  WG _extentx# WG _extenty%port01bit0port10bit1port23bit2port32bit3port45bit4port54bit5port67bit6port76bit7port89bit8port98bit9port10&bit10port11&bit11 p$breturnint>20 ithreshl420 ithreshf 20 ithreshr $ithreshmic @$ithreshldr.busei2c y,bwaitforbutton Ƀ$bdummybool1 ʃ$bdummybool2 i$idummyint1 j$idummyint2 xJ,sdummystring1 xJxsdummystring21bit0port10bit1 (slabeltext0 (slabeltext1 (slabeltext2 (slabeltext3 (slabeltext4 (slabeltext5  RSComponentFormulaFlowcodeFormula Flowcode Buggyl0x300000,0x20 0x300001,0xe 0x300002,0x3f 0x300003,0x1e 0x300004,0x0 0x300005,0x81 0x300006,0x81 0x300007,0x0 0x300008,0xf 0x300009,0x80 0x30000a,0xf 0x30000b,0xa0 0x30000c,0xf 0x30000d,0x0 c RSFlowlineMainXXK{:E RSStartStopCmdMain RSLoopCmdLoop1MainXXMainRSMacroCallCmd Call Macro Update_IR0 RSDecisionCmd Left Turn IRL > 800MainXXMainMainMainXXMain RSOutputCmdOutput1 Call Macro Left_Turn0Main Turn RightIRL < 420 && IRF < 400MainXXMainMainMainXXMainOutput2 Call Macro Right_Turn0Main Forward Left IRL > 400MainXXMainMainMainXXMainOutput4 Forwards and Left SetMotorsFormulaFlowcode(0) RSOperand180"2200Main Forward Right IRL < 350MainXXMainMainMainXXMainOutput8 Forwards and Right SetMotorsFormulaFlowcode(0)"220"1800MainMainMain Update_IRXX6Reads All 3 IR Values and places into global variablesKnn-  Update_IR Read Left IR Sensor ReadIRSensorFormulaFlowcode(0)"'L'IRL Read Front IR Sensor ReadIRSensorFormulaFlowcode(0)"'F'IRF Read Right IR Sensor ReadIRSensorFormulaFlowcode(0)"'R'IRR Update_IR Left_TurnXXKR  Left_Turn Drive ForwardIRF > 400 && IRL > 750 Left_TurnXXMainOutput0x21 Call Component Macro SetMotorsFormulaFlowcode(0)"150"2000 Call Macro Update_IR0Loop IRR < 200 Left_TurnXX Left_TurnOutput0x41 Call Component MacroSpinLeftFormulaFlowcode(0)"2000 Call Macro Update_IR0 Left_TurnMainTurn Left 90 Degrees IRF < 800 Left_TurnXXMainOutput0x81 Call Component MacroSpinLeftFormulaFlowcode(0)"2000 Call Macro Update_IR0Main Left_Turn Right_TurnXXKh  Right_TurnLoop IRF < 800 Right_TurnXX Right_Turn Spin Motors Right SpinRightFormulaFlowcode(0)"2000 Call Macro Update_IR0 Right_Turn Right_TurnIRRVariableIRRIRF\IRFIRL\IRL Main MainMainXX MainOutput4Forwards and Left SetM