#include<pololu/3pi.

h>
unsigned int gerak;
unsigned sensors[5];
int main()
{
play(">>G32>>C32");
while(!button_is_pressed(BUTTON_B))
{
clear();
print_long(read_battery_millivolts());
print("mv");
delay_ms(20);
}
wait_for_button_release(BUTTON_B);
play(">>G32>>C32");
pololu_3pi_init(2000);
for(gerak=1;gerak<82;gerak++)
{
if(gerak<20||gerak>60)
{
set_motors(-40,40);
}
else
{
set_motors(40,-40);
}
calibrate_line_sensors(IR_EMITTERS_ON);
clear();
read_line(sensors,IR_EMITTERS_ON);
print("okeh");
delay_ms(20);
}
set_motors(0,0);
print("GO");
while(!button_is_pressed(BUTTON_C))
{
read_line_sensors(sensors,IR_EMITTERS_ON);
print_long(read_line(sensors,IR_EMITTERS_ON));
delay_ms(20);
clear();
}
wait_for_button_release(BUTTON_C);
set_motors(0,0);
}