RangerCode.txt

#include <Arduino.h>;
#include <Wire.h>;
#include <SoftwareSerial.h>;
#include <MeAuriga.h>;

float distance = 0;
MeRGBLed rgbled_0(0, 12);
MeLineFollower linefollower_9(9);
MeEncoderOnBoard Encoder_1(SLOT1);
MeEncoderOnBoard Encoder_2(SLOT2);
void isr_process_encoder1(void)
{
      if(digitalRead(Encoder_1.getPortB()) == 0){
            Encoder_1.pulsePosMinus();
      }else{
            Encoder_1.pulsePosPlus();
      }
}
void isr_process_encoder2(void)
{
      if(digitalRead(Encoder_2.getPortB()) == 0){
            Encoder_2.pulsePosMinus();
      }else{
            Encoder_2.pulsePosPlus();
      }
}
void move(int direction, int speed)
{
      int leftSpeed = 0;
      int rightSpeed = 0;
      if(direction == 1){
            leftSpeed = -speed;
            rightSpeed = speed;
      }else if(direction == 2){
            leftSpeed = speed;
            rightSpeed = -speed;
      }else if(direction == 3){
            leftSpeed = -speed;
            rightSpeed = -speed;
      }else if(direction == 4){
            leftSpeed = speed;
            rightSpeed = speed;
      }
      Encoder_1.setTarPWM(leftSpeed);
      Encoder_2.setTarPWM(rightSpeed);
}
MeBuzzer buzzer;
MeUltrasonicSensor ultrasonic_10(10);


void _loop(){
    Encoder_1.loop();
    Encoder_2.loop();
}
void _delay(float seconds){
	long endTime = millis() + seconds * 1000;
	while(millis() < endTime)_loop();
}
void setup(){
    rgbled_0.setpin(44);
    TCCR1A = _BV(WGM10);
    TCCR1B = _BV(CS11) | _BV(WGM12);
    TCCR2A = _BV(WGM21) | _BV(WGM20);
    TCCR2B = _BV(CS21);
    attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1, RISING);
    attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2, RISING);
    buzzer.setpin(45);

}
void loop(){
    rgbled_0.setColor(3,#3bff00);
    rgbled_0.show();
    if(1?(3==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 3)==3):(3==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 3)==0)){
        move(1,100/100.0*255);
        buzzer.tone(65, 0.25>0?0.25*1000:0);
        delay(20);

    }
    if(0?(2==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 2)==2):(2==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 2)==0)){
        rgbled_0.setColor(4,#0400ff);
        rgbled_0.show();
        Encoder_1.setTarPWM(0);
        Encoder_2.setTarPWM(0);
        move(4,100/100.0*255);
        _delay(1.5);
        move(4,0);
        buzzer.tone(110, 0.25>0?0.25*1000:0);
        delay(20);

    }
    if(0?(1==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 1)==1):(1==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 1)==0)){
        rgbled_0.setColor(4,#ff006e);
        rgbled_0.show();
        Encoder_1.setTarPWM(0);
        Encoder_2.setTarPWM(0);
        move(3,100/100.0*255);
        _delay(1.5);
        move(3,0);
        buzzer.tone(196, 0.25>0?0.25*1000:0);
        delay(20);
        if(1?(0==0?linefollower_9.readSensors()==0:(linefollower_9.readSensors() & 0)==0):(0==0?linefollower_9.readSensors()==3:(linefollower_9.readSensors() & 0)==0)){
            rgbled_0.setColor(6,#ffc300);
            rgbled_0.show();
            Encoder_1.setTarPWM(0);
            Encoder_2.setTarPWM(0);
            move(2,100/100.0*255);
            _delay(1.5);
            move(2,0);
            move(4,100/100.0*255);
            _delay(1.5);
            move(4,0);
            buzzer.tone(4699, 0.25>0?0.25*1000:0);
            delay(20);

        }
        distance = ultrasonic_10.distanceCm();
        if(ultrasonic_10.distanceCm() < 15){
            rgbled_0.setColor(0,255,0,0);
            rgbled_0.show();
            buzzer.tone(123, 0.75>0?0.75*1000:0);
            delay(20);
            move(1,100/100.0*255);
            _delay(1);
            move(1,0);
            rgbled_0.setColor(0,0,0,0);
            rgbled_0.show();
            Encoder_1.setTarPWM(0);
            Encoder_2.setTarPWM(0);

        }

    }

    _loop();

}