//Calibration to field conditions for RoboCup Junior soccer
//David Wyatt 13/5/2003
//MUST be run before using RCJ attacker 2.nqc or RCJ goalie 2.nqc

//N.B. Light sensors set to raw mode, where bright light == low value

#define LIGHT_FLOOR SENSOR_1 //Uncollimated light sensor pointing downwards to detect position on field from grayscale gradient
#define LIGHT_FWD SENSOR_2 //Collimated light sensor pointing forwards to detect ball
#define BUMPER SENSOR_3 //Front bumper to detect ball and obstacles
#define LEFT OUT_A //Left motor - FWD == forwards (i.e. not reversed)
#define RIGHT OUT_C //Right motor - FWD == forwards (i.e. not reversed)
#define ERROR 2 //Noise value in raw light sensor reading

//In deciseconds
#define WHOLETURN 15

int home=0, away=0, field_brightness=1023;

task main()
{
 init();
 ends();
 background();
}

void init()
{
 SetSensorType(LIGHT_FLOOR, SENSOR_TYPE_LIGHT);
 SetSensorMode(LIGHT_FLOOR, SENSOR_MODE_RAW);
 SetSensorType(LIGHT_FWD, SENSOR_TYPE_LIGHT);
 SetSensorMode(LIGHT_FWD, SENSOR_MODE_RAW);
 SetSensor(BUMPER, SENSOR_TOUCH);
}

void ends()
{
 do
 {
  until (BUMPER == 0);
  until (BUMPER == 1);
  home = LIGHT_FLOOR;
  PlaySound(SOUND_CLICK);
  until (BUMPER == 0);
  until (BUMPER == 1);
  away = LIGHT_FLOOR;
  if (abs(home - away) <= ERROR) {PlaySound(SOUND_DOWN);}
 }
 while (abs(home - away) <= ERROR);
 PlaySound(SOUND_UP);
}

void background()
{
 until (BUMPER == 0);
 until (BUMPER == 1);
 OnFwd(LEFT);
 OnRev(RIGHT);
 ClearTimer(0);
 while(Timer(0) <= WHOLETURN)
 {
  if (LIGHT_FWD < field_brightness) {field_brightness = LIGHT_FWD;}
 }
 Off(LEFT + RIGHT);
 PlaySound(SOUND_UP);
}