#include<iostream>
#include"PID.h"
#include"eyebot++.h"
using namespace std;


/*---定义全局常量---*/
// const int DIST_cell = 300 ;
// const int DIST_wall = 100 ;
const int DIST_cell = 300;
const int DIST_wall_f = 120;
const int DIST_wall_rl = 90;
/*---全局各种变量与常量定义完成---*/


/*---下面是主函数---*/
int main()
{
    //~ int Fwall,Lwall,Rwall;
    int F_wall;
    LCDMenu("","","","END");
    int num;
    
    do
    {   //检测墙面
        
        //~ Fwall = PSDGetRaw(1) > DIST_cell;   //检测前面侧是否有墙
        //~ Lwall = PSDGetRaw(2) > DIST_cell;    //检测左面
        //~ Rwall = PSDGetRaw(3) > DIST_cell;   //检测右面
        F_wall = PSDGetRaw(1);
        
        if (F_wall < DIST_wall_f)
        {
            goto end_main;
        }
        //~ //判断旋转方向
        //~ if (Lwall)
        //~ {
            //~ VWTurn(+90,15);     //向左旋转
            //~ VWWait();
        //~ }
        //~ else if (Fwall)     
        //~ {
        //~ //不旋转
        //~ }
        //~ else if (Rwall)
        //~ {
            //~ VWTurn(-90,15);     //向右旋转
            //~ VWWait();
        //~ }
        //~ else 
        //~ {
            //~ VWTurn(180,15);
            //~ VWWait();
        //~ }
        //~ //直走
        
        cin >> num ;
        if (num)
        {
        PIDStraight();
        }
        //~ PIDStraight();
        VWWait();
        
    } while (KEYRead() != KEY4);
    end_main:
    cout << "over" << endl;
}