Main_USB.ino.txt

// You are on the USB. :3

/* ---------------------- DO NOT TOUCH ---------------------- */
#include "Functions.h"

#define S forwardStart
#define E forwardEnd

#define F forwardOneSquare
#define B backwardOneSquare
#define L turnLeft
#define R turnRight
/* ----------------------------------------------------------- */


/* ----------------------- EDIT THESE ------------------------ */
#define PRINT_TIME // Comment after you're done (if you want).

void sequence() {
  S(); // Start

  L();
  F();

  R();
  F();

  L();
  F();
  F();

  L();
  F();

  L();
  F(); // at gate A

  B();

  L();
  F();

  R();
  F();
  F();

  R();
  F();

  L();
  F(); // at start square

  L();


  F(); // other gates
  F();
  F();

  L();
  F();

  L();
  F();

  R();
  F();

  R();
  F(); // at endpoint

  L();
  F();

  L();
  F();

  B();

  L();

  E(); // End
}

void setup() {
  #ifndef NO_WAIT

  /* ADJUST THESE VALUES ACCORDINGLY */
  w.targetTime = 60000;
  w.numOfOneSquare = 20 + 2; // # of F() + B()
  w.numOfTurn = 5 + 12; // # of R() + L()
  w.turnTime = 2500; // 2300 <= turnTime <= 4500 (maybe a bit more if ur feeling risky)

/* ----------------------------------------------------------- */


/* ---------------------- DO NOT TOUCH ----------------------- */
  w.calculate();

  #endif

  #ifdef PRINT_TIME
  Serial.begin(9600);
  w.print();
  Serial.end();
  #endif

  my_init();

  while (!isRunning);
  changeMode();

  delay(1000);

  mpu.calcGyroOffsets();

  delay(300);

  angle = round(mpu.getAngleZ());

  sequence();

  brake();

  delay(5000);
}

void loop() {
}