final_robot.pseudo

from drivebase import move
from touch_sensors import right_send_signal, left_send_signal
from rolling_pin import turnClockwise
from weight_sensors import weight_send_signal

function on_start() do //THIS FUNCTION WILL RUN ONE TIME WHEN THE ROBOT TURNS ON
    //Assuming the robot starts in an orientation parallel to the court perimeter
    set base_move_speed = 0.5
    set slow_move_speed = 0.25
    set fast_move_speed = 0.75
    set backward_move_speed = -0.25
end

function check_and_turn() do 
    if(right_send_signal()):
        move(backward_move_speed, backward_move_speed)
        move(slow_move_speed, base_move_speed)

        return true
    else if(left_send_signal()):
        move(backward_move_speed, backward_move_speed)
        move(base_move_speed, slow_move_speed)
        
        return true

    return false
end

function on_run() do //THIS FUNCTION RUNS CONTINOUSLY ONCE THE ROBOT IS TURNED ON
    turnClockwise(base_move_speed)

    if weight_send_signal():
        on_end()

    if check_and_turn()
        move(slow_move_speed, slow_move_speed)
    else
        move(fast_move_speed, fast_move_speed)
end

function on_end() do //THIS FUNCTION WILL RUN ONE TIME WHEN THE ROBOT TURNS OFF
    move(0, 0)
    turnClockwise(0)
end