;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;                             catmouse (v. cat)                             ;
;                                  by                                       ;
;*****************************jj.helen.sophie*******************************;
;                          program by jj, version 2                         ;
;                       robotics wintersession 2009                         ;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;


menu 1 [initialize]
menu 2 [go]
menu 3 [piece+10]
menu 4 [piece-10]
menu 5 [move-random]

global [number light some card control other count suit songon piece diff]

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;useless comments;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;
;;sensor 0 = left eye                                                       ;
;;sensor 1 = right eye                                                      ;
;;switch 10 = back bumper
;;switch 7, 8 = front bumper                                                ;
;;switch 15 = magnet                                                   ;
;;some = engine-on value                                                    ;
;;card = turn direction value                                               ;
;;light = auto threshold value                                              ;
;;thatway = forward; thisway = backward                                     ;
;;a = left wheel; b = right wheel                                           ;

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;moving on;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

to initialize

	setlight (((sensor 0) + (sensor 1)) / 2) 
	print light
	a, setpower 5
	b, setpower 5
;	c, setpower 2
	setcontrol 1
	setother 800
	setpiece 50
	setcount 0


end

to go


	when [(switch 7)][setcontrol 0 go-backwards go-random-direction setcontrol 1]
	when [(switch 8)][setcontrol 0 go-forwards go-random-direction setcontrol 1]
	when [and (switch 7)(sees-enough-light?)][stoprules play-song]
 	move-random

end 


to sees-enough-light?
output or((sensor 1) < (light - piece))((sensor 0) < (light - piece))
end


to move-random
	loop [

	ifelse ((not sees-enough-light?))
		[
		; c, off
		if (control = 1)
		[a, thatway on
		b, thisway on]
		]

		[
		if (control = 1)
		[ ; c, on
		setdiff ((sensor 0) - (sensor 1))

		ifelse ((sensor 0) < (sensor 1))
		    	[if (control = 1) [left]] 
		   	[if (control = 1) [right]]
		if (and ((0 - 7) < diff) (diff < 7)) 
		    	[if (control = 1) [go-straight]]
		if (and(switch 7)(sees-enough-light?))[play-song]
             	]]

	] 
end


to go-backwards
	setsome ((random 7) + 8)
	ab, thisway onfor some 
end



to go-random-direction
	setcard (random 16)
	setsuit (random 2)
	ifelse (suit = 0) [a, onfor card][b, onfor card]
end

to go-forwards
	setsome ((random 7) + 8)
	ab, thatway onfor some
end




to play-song
   setsongon 1 
   beethoven

end

to beethoven

  loop[
	ab, off
    wait 6
    repeat 3 [play_note 90 1 1]
    play_note 86 7 5
    repeat 3 [play_note 88 1 1]
    play_note 85 7 5
    repeat 3 [play_note 90 1 1]
    play_note 86 1 1
    repeat 3 [play_note 91 1 1]
    play_note 90 1 1
    repeat 3 [play_note 98 1 1]
    play_note 95 2 5
    repeat 3 [play_note 90 1 1]
    play_note 85 1 1
    repeat 3 [play_note 91 1 1]
    play_note 88 1 1
    repeat 3 [play_note 100 1 1]
    play_note 97 2 5
  ]
end

to play_note :frequency :duration :wait
  if songon
     [note :frequency :duration
      wait :wait]
end


to right
	a, thatway on
	b, off
end

to left
	a, off
	b, thatway on
end

to go-straight
	a, thatway on
	b, thatway on
end
to piece+10
	setpiece piece + 10
	print piece
end

to piece-10
	setpiece piece - 10
	print piece 
end