//Kevin04, Made by Kevin van Rensburg, 21 Feb 2003
//This program makes the robot do the following:
//1) Drive out the office
//2) Make a square
//3) Come back to original position in office.
//Made for Kevin's Roverbot 3
//Download to program Slot 1

#define MOVE_TIME   100         //Time for a straight move
#define TURN_TIME    66         //Time for 90 degree turn

task main()
{

   SetPower(OUT_A+OUT_C,3);     //Set Power to 3
   OnFwd(OUT_A+OUT_C);          //Switch on motors.
   Wait(300);                   //Move forward

   OnRev(OUT_C);                //Right turn
   Wait(TURN_TIME);                    //90 degrees

   OnFwd(OUT_A+OUT_C);          //Switch on motors.
   Wait(500);                   //Move forward

   OnRev(OUT_A);                //Left turn
   Wait(TURN_TIME);              //90 degrees

   OnFwd(OUT_A+OUT_C);          //Switch on motors.
   Wait(400);                   //Move forward

   OnRev(OUT_C);                //Right turn
   Wait(70);                    //90 degrees
   
   OnFwd(OUT_A+OUT_C);          //Switch on motors.
   Wait(1500);                   //Move forward
   
   
   
   repeat(4)                     //make a square
     {
      OnFwd(OUT_A+OUT_C);
      Wait(70);
      OnRev(OUT_C);
      Wait(70);
     }
    
   OnRev(OUT_C);                //Right turn
   Wait(140);                    //180 degrees

   OnFwd(OUT_A+OUT_C);          //Switch on motors.
   Wait(1500);                   //Move forward

  Off(OUT_A+OUT_C);             //Turn off Motors
}

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