-- RoboCup 2000 Big Run 
-- FollowLine(max,min,stop)  1=Junction,2=No Line,3=Sharp,4=time 
-- Junction(Side)    1=left,2=right 
-- FollowWall(MaxDist,MinDist,stop)  1=Corner,2=Line 
-- Rotate(Dir) 1 = CounterClockwise,2 = Clockwise 
-- Corner() 
-- RecoverLine() 
function Across() 
  motor(1,6,1,6) 
  delay(20000) 
  motor(0,0,0,0) 
end 
function Noek() 
  motor(1,6,1,6) 
  delay(7500) 
  motor(0,0,0,0) 
end 
function BNoek() 
  motor(0,6,0,7) 
  delay(7500) 
  motor(0,0,0,0) 
end 
function VNoek() 
  motor(1,6,0,2) 
  delay(10000) 
  motor(0,0,0,0) 
end 
function HBNoek() 
  motor(0,6,1,0) 
  delay(10000) 
  motor(0,0,0,0) 
end 
function Vrot() 
  motor(1,6,0,6) 
  delay(5000) 
  motor(0,0,0,0) 
end 
Run = {} 
Run[1] = "StartWait()" 
Run[2] = "FollowLine(10,1)" 
Run[3] = "Junction(1)" 
Run[4] = "" -- "FollowLine(10,1)" 
Run[5] = "" -- "Noek()" 
Run[6] = "FollowLine(10,2)" 
Run[7] = "Noek() VNoek() Noek()" 
Run[8] = "FollowWall(125,130,1)" 
Run[9] = "Corner()" 
Run[10] = "VNoek()" 
Run[11] = "Noek() Noek()" 
Run[12] = "FollowWall(125,130,1)" 
Run[13] = "RecoverLine(4)" 
Run[14] = "VNoek() FollowLine(6,4,100)" 
Run[15] = "FollowLine(10,1)" 
Run[16] = "Junction(1) FollowLine(8,4,100)" 
Run[17] = "FollowLine(10,1)" 
Run[18] = "Junction(1)" -- Venstre mod sort 
--Run[19] = "FollowLine(10,2)" 
--Run[20] = "RecoverLine(8)" 
Run[19] = "FollowLine(10,4,100)" 
Run[20] = "FindBlack(600,600)" -- Sort Line 
Run[21] = "BlackNoek()" 
Run[22] = "FollowBlackLine(600,600) FollowLine(6,4,200)" 
Run[23] = "FollowLine(10,1)" 
Run[24] = "Junction(1)" -- Paa maatte 
Run[25] = "FollowLine(8,4,150)" 
Run[26] = "FollowLine(6,2)" -- "FollowLine(6,3)" -- Top af trappe port 
Run[27] = "" -- BNoek()" -- "FollowLine(6,4,10)" 
Run[28] = "" -- Back(8)" 
Run[29] = "BNoek() BNoek()" 
Run[30] = "" -- HBNoek()" 
Run[31] = "" -- RecoverLine(4) Vrot()" 
Run[32] = "" -- FollowLine(6,4,100)" -- Var 50 
Run[33] = "Rotate(2)" 
Run[34] = "FollowLine(6,4,50)" 
Run[35] = "FollowLine(8,1)" 
Run[36] = "Junction(2)" -- "Noek()" 
Run[37] = "FollowLine(10,4,100)" -- "FollowLine(400,400,1)" 
Run[38] = "Rotate(1) FollowLine(8,4,50)" 
Run[39] = "FollowLine(8,1)" 
Run[40] = "Junction(2)" 
Run[41] = "FollowLine(8,1)" -- Ogsaa ned ad bakke 
Run[42] = "" -- "--FollowLine(6,1)" -- Ned af bakke 
Run[43] = "" -- "Junction(2)" 
Run[44] = "FollowLine(8,4,200)" 
Run[45] = "Rotate(1) FollowLine(8,4,50)" -- Bund af bakke port 
Run[46] = "FollowLine(8,1)" 
Run[47] = "Junction(2)" 
Run[48] = "FollowLine(6,3)" 
Run[49] = "BNoek() BNoek()" -- "FollowLine(8,4,100)" 
Run[50] = "Rotate(2) FollowLine(8,4,50)" 
Run[51] = "FollowLine(8,1)" 
Run[52] = "Junction(1)" 
Run[53] = "FollowLine(8,1)" 
Run[54] = "Junction(2)" 
Run[55] = "FollowLine(8,1)" 
Run[56] = "Junction(1)" 
Run[57] = "FollowLine(8,1)" -- Inde i 8 tal 
Run[58] = "Junction(1)" 
Run[59] = "FollowLine(8,1)" 
Run[60] = "Junction(1)" 
Run[61] = "FollowLine(8,1)" 
Run[62] = "Junction(1)" 
Run[63] = "FollowLine(8,1)" 
Run[64] = "Junction(2)" 
Run[65] = "FollowLine(8,1)" 
-- Safe 
Run[66] = "Junction(2)" 
Run[67] = "FollowLine(8,1)" 
Run[68] = "Junction(2)" 
Run[69] = "FollowLine(8,1)" 
Run[70] = "Junction(2)" 
Run[71] = "FollowLine(8,1)" 
Run[72] = "Junction(2)" 
Run[73] = "FollowLine(8,1)" 
Run[74] = "Junction(2)" 
Run[75] = "FollowLine(8,1)" 
Run[76] = "Junction(2)" 
Run[77] = "FollowLine(8,1)" 
Run[78] = "Junction(2)" 
Run[79] = "FollowLine(8,1)" 
Run[80] = "Junction(2)" 
Run[81] = "FollowLine(8,1)" 
Run[82] = "Junction(2)" 
Run[83] = "FollowLine(8,1)" 
Run[84] = "Junction(2)" 
Run[85] = "FollowLine(8,1)" 
RunCount = 85 
function Go(StartNo) 
  local GoNo = 1 
  if FollowLine == nil or 
     FindBlack == nil or 
     motor == nil or 
     Back == nil then 
    print("Component missig!") 
    return 
  end 
  if StartNo ~= nil then 
    GoNo = StartNo 
  end 
  activate(2) 
  activate(3) 
  repeat 
    if Run[GoNo] ~= nil then 
      print("Go "..GoNo.." "..Run[GoNo]) 
      set7seg(GoNo - ((GoNo g10) * 10)) 
      dostring(Run[GoNo]) 
    end 
    GoNo = GoNo + 1 
  until ((GoNo > RunCount) or (ccheck())) 
  deactivate(3) 
  deactivate(2) 
  print("Last Action = "..Run[GoNo - 1].." ("..tostring(GoNo - 1)..")") 
end