/*************************************************************************
	Mazebot Starter File
**************************************************************************/

// Global Sensor Threshold Constants - based on experimentation with our
// light sensors
#define LINE_THRESH	48       // sensor reading below this is a line
#define NODE_THRESH	38       // below this is a node

// Global Motor constants
#define DRIVE_PWR	2        // power level when driving forward
#define TURN_PWR	1        // power level when turning in place
#define SRCH_TIME	3        // smallest amount of search time; 100 = 1 sec

// Define NQC Sensors to detect line, light source
#define LINE	SENSOR_2

// Define NQC Motors for left and right side of robot
#define LEFT	OUT_A
#define RIGHT	OUT_C

// Direction of current turn
#define TURNING_LEFT 0
#define TURNING_RIGHT 1


//==========================================================================
// PlaySong()
//
// Written by: DLM
//
// Description: Helper function for playing the Star Wars song.

void PlaySong(const int tone, const int duration)
{

	PlayTone(tone,duration);
	Wait(duration);
}

//==========================================================================
// StarWars()
//
// Written by: DLM
//
// Description: Plays the Star Wars theme song.

void StarWars()
{
  PlayTone(523,100);
  PlayTone(784,100);
  PlayTone(698,13);
  PlayTone(659,13);
  PlaySong(587,13);
  PlaySong(1046,100);
  PlaySong(784,100);
  PlaySong(698,13);
  PlaySong(659,13);
  PlaySong(587,13);
  PlaySong(1046,100);
  PlaySong(784,100);
  PlaySong(698,13);
  PlaySong(659,13);
  PlaySong(698,13);
  PlaySong(587,100);
  PlaySong(392,13);
  PlaySong(392,13);
  PlaySong(392,13);
  PlaySong(523,100);
  PlaySong(784,100);
  PlaySong(698,13);
  PlaySong(659,13);
  PlaySong(587,13);
  PlaySong(1046,100);
  PlaySong(784,100);
  PlaySong(698,13);
  PlaySong(659,13);
  PlaySong(587,13);
  PlaySong(1046,100);
  PlaySong(784,100);
  PlaySong(932,13);
  PlaySong(880,13);
  PlaySong(932,13);
  PlaySong(784,100);
}






//==========================================================================
//                            m a i n ( )
//==========================================================================

task main()
{
  // configure sensors
  SetSensor(LINE, SENSOR_LIGHT);

  // follow the line until the end
  findline();
  followline();

  // celebrate!
  StarWars();

} // end main