File content as of revision 12:284be46593ae:

#include "mbed.h"
#include "Adafruit_PWMServoDriver.h"
#include "ShapeDetect.h"
#include "rtos.h"
#include "PID.h"
#include "PololuQik2.h"
#include "QEI.h"
#include "HCSR04.h"
#include "stdio.h"
#include "LPC17xx.h"
#include "Sharp.h"

/* Navigation Definitions */
#define PIN_TRIGGERL    (p12)
#define PIN_ECHOL       (p11)
#define PIN_TRIGGERR    (p29)
#define PIN_ECHOR       (p30)
#define PULSE_PER_REV  (1192)
#define WHEEL_CIRCUM   (12.56637)
#define DIST_PER_PULSE (0.01054225722682)
#define MTRS_TO_INCH   (39.3701)
#define MAX_SPEED      (0.3*127)
#define PPR            (4331/4)
#define LEFT           (1)
#define RIGHT          (0)
#define STRAIGHT       (2)
#define FORWARD        (1)
#define BACKWARD       (0)
#define TOOLS          (0)
#define MID            (1)
#define RIGS           (2)
#define MID2           (3)
#define RETURN         (4)
#define FAR            (1)

//States
#define START                       0
#define OILRIG1_POS                 1
#define OILRIG2_POS                 2
#define GOTO_TOOLS1                 3
#define IDENTIFY_TOOLS              4
#define AQUIRE_TOOL1                5
#define AQUIRE_TOOL2                6
#define AQUIRE_TOOL3                7
#define NAVIGATE_WAVES_ROW1         8
#define NAVIGATE_WAVES_ROW2         9
#define NAVIGATE_WAVES_ROW3         10
#define NAVIGATE_TO_SQUARE_RIG      11
#define NAVIGATE_TO_TRIANGLE_RIG    12
#define NAVIGATE_TO_CIRCLE_RIG      13
#define RIG_ALIGN                   14
#define INSERT_TOOL                 15
#define END                         16
#define GOTO_TOOLS2                 17



//Servo Static Positions
#define STORE_POSITION          0
#define OIL_RIG1                1
#define OIL_RIG2                2
#define OIL_RIG3                3
#define DRIVE_POSITION_NOTOOL   4
#define TOOL_1                  5
#define TOOL_2                  6
#define TOOL_3                  7
#define DRIVE_POSITION_TOOL     8
#define ORIENT_TOOL             9
#define PU_TOOL_1               10
#define PU_TOOL_2               11
#define PU_TOOL_3               12
#define PU_TOOL_1_STAB          13
#define PU_TOOL_2_STAB          14
#define PU_TOOL_3_STAB          15

//Rig definitions
#define SQUARE                  1
#define TRIANGLE                2
#define CIRCLE                  3

//*********************//
//******* TODO ********//
//*********************//
//Oil Rig distance thresholds
#define OILRIG1_MAX     3000
#define OILRIG1_MIN     1000
#define OILRIG2_MAX     5000
#define OILRIG2_MIN     1000
#define OILRIG3_MAX     5000
#define OILRIG3_MIN     1000

//for servo normalization
#define MIN_SERVO_PULSE     900
#define MAX_SERVO_PULSE     2100
#define SERVO_MAX_ANGLE     180


DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
DigitalOut myled3(LED3);
DigitalOut myled4(LED4);

void errFunction(void);
bool cRc;

Serial pc(USBTX,USBRX);                     //USB Comm
Adafruit_PWMServoDriver pwm(p28,p27);       //pwm(SDA,SCL) - Servo Control PWM
DigitalOut ServoOutputDisable(p8);          //Servo Control Output Enable/Disable
extern Serial lrf;                         //Laser Range Finder    lrf(p13,p14)
//Hardware Initialization
//Serial bt(p13,p14);
HCSR04 rangeFinderLeft( PIN_TRIGGERL, PIN_ECHOL );
HCSR04 rangeFinderRight( PIN_TRIGGERR, PIN_ECHOR );
PID pid1(15.0,0.0,4.0,0.02);
PololuQik2 motors(p9, p10, p8, p15, errFunction, cRc);
QEI rightEncoder(p17,p18,NC,PPR,QEI::X4_ENCODING);
QEI leftEncoder(p16,p15,NC,PPR,QEI::X4_ENCODING);
Sharp IR(p20);
//InterruptIn encoder(p29);




/***************
local servo functions
****************/
void servoBegin(void);
void initServoDriver(void);
void setServoPulse(uint8_t n, int angle);
void setServoPulseNo_delay(uint8_t n, int angle);
void servoPosition(int set);
void setGripper(int open);
int fire_checker(int rig);


//Navigation Functions
void wall_follow(int side, int direction, int section);
void wall_follow2(int side, int direction, int section, float location, int rig);
void leftTurn(void);
void slightleft(void);
void slightright(void);
void rightTurn(void);
void slightMove(int direction, float pulses);
void to_tools_section1(float* location, float &current);
void to_tools_section2(float* location, float &current);
void from_tools_section(float* location, float &current);
void mid_section(float* location, float &current, int* direction);
void mid_section2(float* location, float &current, int* direction);
void rig_section(float* location, float &current, int* direction, int rig);
void tools_section_return(float* location, float &current);
void mid_section_return(float* location, float &current, int* direction);
void mid_section2_return(float* location, float &current, int* direction);
void rig_section_return(float* location, float &current, int* direction);
void overBump(int section);
void alignWithWall(int section);
void UntilWall(int dir);


/************
Main Variables
*************/
int state = START;
int fire = 0;
int tool_needed = 0;
int shape_detected = 0;
float range, range2, pid_return;


/************
Variables for Servos
*************/
int servoNum, servoAngle, outputDisabled, posNum, testVal;
int currentPosition[7];

typedef struct {
    int arm_position_name;      //for organization only (STORE, OILRIG1, OILRIG2...)
    int base_rotate;
    int base_arm;
    int big_arm;
    int claw_arm;
    int claw_rotate;
    int claw_open;
} Coord;

/********************
Static Arm Positions
*********************/

Coord Arm_Table[] = {

    // POSITION ODER:
    // base_rotate, base_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open

//increase in number 5 rotates gripper

    {STORE_POSITION, 85, 5, 0, 165, 175, 0},              // storing position
    {OIL_RIG1, 160, 20, 60, 45, 175, 0},                 // point laser at oilrig1
    {OIL_RIG2, 163, 20, 60, 45, 175, 0},                // point laser at oilrig2
    {OIL_RIG3, 130, 90, 90, 52, 175, 0},                // point laser at oilrig2
    {DRIVE_POSITION_NOTOOL, 85, 5, 0, 165, 175, 0},    // Drive through course
    {TOOL_1, 94, 50, 80, 109, 175, 0},                  // Look over first tool
    {TOOL_2, 77, 50, 80, 110, 175, 0},                  // Look over second tool
    {TOOL_3, 57, 50, 80, 109, 175, 0},                  // Look over third tool
    {DRIVE_POSITION_TOOL, 55, 70, 102, 74, 0, 0},     // Drive with tool loaded
    {ORIENT_TOOL, 135, 60, 75, 60, 90, 90},             // position tool to be inserted
    {PU_TOOL_1, 98, 50, 82, 118, 90, 0},                // STATIC Pickup tool POSITION
    {PU_TOOL_2, 78, 50, 82, 108, 90, 0},                // STATIC Pickup tool POSITION
    {PU_TOOL_3, 53, 50, 82, 118, 90, 0},                // STATIC Pickup tool POSITION
    {PU_TOOL_1_STAB, 98, 50, 90, 118, 90, 0},           // STAB TOOL 1
    {PU_TOOL_2_STAB, 78, 50, 90, 108, 90, 0},           // STAB TOOL 2
    {PU_TOOL_3_STAB, 53, 50, 90, 118, 90, 0},           // STAB TOOL 3
};


/* Variables for imageprocessing and distance */
int x_coord;
int y_coord;
int area;
int shape;

/* Variables for distance sensor*/
int distLaser;
int fire_detected = 0;
int fire_not_detected = 0;


int main()
{

    /*****************
     INITIALIZATIONS
    *******************/
    float location[3], current=4;
    int direction[3];
    double distance;


    pc.baud(115200);
    //Laser Range Finder Initialization
    lrf_baudCalibration();
    motors.begin();

    //Servo initialization
    initServoDriver();
    servoBegin();   //initiates servos to start position
    //ServoOutputDisable = 0;







    /*******************
    WHILE LOOP FOR TESTING
    ********************/
    //while(1) {
/*
        pc.scanf("%d %d", &servoNum, &servoAngle);
        if(servoAngle > 175) {
            servoAngle = 175;
        }
        if(servoNum > 5 ) {
            servoNum = 0;
            servoAngle = 90;
        }
        setServoPulse(servoNum, servoAngle);
        distLaser = getDistance();
        pc.printf("Distance %d", distLaser);
*/
        /*
                while(pc.getc() != 'g');
                servoPosition(TOOL_2);
                wait(3);
                //shape_detected = shapeDetection();
                //clearBounds();
                ImageToArray(GREYSCALE);
                printImageToFile(GREYSCALE);
                while(pc.getc() != 'g');
                servoPosition(TOOL_3);
                wait(3);
                shape_detected = shapeDetection();
                printImageToFile(BINARY);
                while(pc.getc() != 'g');
                servoPosition(TOOL_3);
                wait(3);
                shape_detected = shapeDetection();
                while(1){};*/


        //shape_detected = shapeDetection();
        //distLaser = getDistance();
        //pc.printf("Distance %d", distLaser);
        //ledtoggle();
        /*
                int shape_alignX_done = 0;
                int shape_alignY_done = 0;


                //pc.scanf("%d", &posNum);

                while(pc.getc() != 'g');
                servoPosition(TOOL_1);
                while(pc.getc() != 'g');
                //shape_detected = shapeDetection();

                ImageToArray(GREYSCALE);
                //clearBounds();
                printImageToFile(GREYSCALE);
                while(1);

                while(shape_alignY_done == 0)  {
                    shape_detected = shapeDetection();
                    pc.printf("\nY movement\n");
                    if(get_com_y() >= 80) {
                        setServoPulse(1, Arm_Table[TOOL_1].base_arm-=2);
                        setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1);
                        //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=2);
                    } else if(get_com_y() > 70 && get_com_y() < 90) {
                        setServoPulse(1, Arm_Table[TOOL_1].base_arm-=1);
                        setServoPulse(2, Arm_Table[TOOL_1].big_arm-=1);
                        //setServoPulse(3, Arm_Table[TOOL_1].claw_arm+=1);
                    } else if(get_com_y() <= 35 ) {
                        setServoPulse(1, Arm_Table[TOOL_1].base_arm+=2);
                        setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1);
                        //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=2);
                    } else if(get_com_y() < 50 && get_com_y() > 20) {
                        setServoPulse(1, Arm_Table[TOOL_1].base_arm+=1);
                        setServoPulse(2, Arm_Table[TOOL_1].big_arm+=1);
                        //setServoPulse(3, Arm_Table[TOOL_1].claw_arm-=1);
                    } else {
                        shape_alignY_done = 1;
                    }
                    }

                    while( shape_alignX_done == 0){
                    shape_detected = shapeDetection();
                    pc.printf("\nX movement\n");
                    if(get_com_x() > 95) {
                        Arm_Table[TOOL_1].base_rotate+=1;
                        setServoPulse(0, Arm_Table[TOOL_1].base_rotate);
                        setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1);
                        setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1);


                    } else if(get_com_x() < 65) {
                        Arm_Table[TOOL_1].base_rotate-=1;
                        setServoPulse(0, Arm_Table[TOOL_1].base_rotate);
                        setServoPulse(0, Arm_Table[TOOL_1].base_rotate-1);
                        setServoPulse(0, Arm_Table[TOOL_1].base_rotate+1);

                    } else {
                        shape_alignX_done = 1;
                    }


                }
                printImageToFile(BINARY);*/

   // }





    /********************************
    MAIN WHILE LOOP FOR COMPETITION
    *********************************/
    while(1) {

        switch (state) {

                /**************************************************
                *           STAGE 0
                *
                *          - START OF THE COMETITION
                *
                **************************************************/
            case START :
                myled1 = 1;
                while(pc.getc() != 'g');
                myled1 = 0;
                state = OILRIG1_POS;
                break;

                /**************************************************
                *           STAGE 1
                *
                *          - DETERMINE OIL RIG ON FIRE
                *
                **************************************************/
            case OILRIG1_POS:                   //aims arm at square oil rig

                setServoPulse(3, Arm_Table[OIL_RIG1].claw_arm);
                setServoPulse(2, Arm_Table[OIL_RIG1].big_arm);
                setServoPulse(1, Arm_Table[OIL_RIG1].base_arm);
                setServoPulse(0, Arm_Table[OIL_RIG1].base_rotate);
                setServoPulse(4, Arm_Table[OIL_RIG1].claw_rotate);
                setServoPulse(5, Arm_Table[OIL_RIG1].claw_open);
                wait(3);
                //lrf.putc('E');                  // lighting calculation
                //wait(15);

                fire = fire_checker(OIL_RIG1);  //determines if oil rig is on fire

                pc.printf("FIRE: SQUARE %d", fire);
                //determines what tool is needed
                if (fire == 1) {
                    tool_needed = SQUARE;
                    state = GOTO_TOOLS1;
                } else {
                    state = OILRIG2_POS;
                }

                break;

            case OILRIG2_POS:


                setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
                setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
                setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
                setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate);
                setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
                setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);

                wait(3);                                //wait for servos to settle

                to_tools_section2(location, current);

                servoPosition(OIL_RIG2);    //position arm to point at first oilrig
                wait(2);
                //lrf.putc('E');                  // lighting calculation
                //wait(15);
                fire = fire_checker(OIL_RIG2);
                pc.printf("FIRE: TRIANGLE %d", fire);
                if (fire == 1) {
                    tool_needed = TRIANGLE;
                    state = GOTO_TOOLS2;
                } else {
                    tool_needed = CIRCLE;
                    state = GOTO_TOOLS2;
                }
                pc.printf("tool needed: %d", tool_needed);
                break;

                /**************************************************
                *           STAGE 2
                *
                *          - TRAVEL TO TOOLS
                *
                **************************************************/
            case GOTO_TOOLS1:

                setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
                setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
                setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
                setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate);
                setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
                setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);

                wait(5);                                //wait for servos to settle
                to_tools_section1(location, current);

                state = IDENTIFY_TOOLS;
                break;

            case GOTO_TOOLS2:

                setServoPulse(2, Arm_Table[DRIVE_POSITION_NOTOOL].big_arm);
                setServoPulse(3, Arm_Table[DRIVE_POSITION_NOTOOL].claw_arm);
                setServoPulse(1, Arm_Table[DRIVE_POSITION_NOTOOL].base_arm);
                setServoPulse(0, Arm_Table[DRIVE_POSITION_NOTOOL].base_rotate);
                setServoPulse(4, Arm_Table[DRIVE_POSITION_NOTOOL].claw_rotate);
                setServoPulse(5, Arm_Table[DRIVE_POSITION_NOTOOL].claw_open);

                wait(5);                                //wait for servos to settle

                slightMove(FORWARD,3100);
                current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;

                state = IDENTIFY_TOOLS;
                break;

                /**************************************************
                *           STAGE 3
                *
                *           - Determine order of tools
                *           - Aquire appropriate tool
                *
                **************************************************/
            case IDENTIFY_TOOLS:

                servoPosition(TOOL_2);              //arm/camera looks over tool
                wait(5);                            //wait for servos to settle
                //centerCamWithTool();                //centers camera over tool
                shape_detected = shapeDetection();  //determines the shape
                clearBounds();
                //printImageToFile(BINARY);

                //either goes to aquire the tool or look at the next shape
                if(shape_detected == tool_needed) {
                    state = AQUIRE_TOOL2;
                } else {
                    servoPosition(TOOL_1);
                    wait(1);                        //wait for servos to settle
                    //centerCamWithTool();
                    shape_detected = shapeDetection();
                    if (shape_detected == tool_needed) {
                        state = AQUIRE_TOOL1;
                    } else {
                        servoPosition(TOOL_3);
                        wait(1);                            //wait for servos to settle
                        centerCamWithTool();
                        state = AQUIRE_TOOL3;
                    }
                }
                while(1);
                break;
            case AQUIRE_TOOL1:

                servoPosition(PU_TOOL_1_STAB);
                wait(2);

                servoPosition(DRIVE_POSITION_TOOL);     //arm position for driving with the tool
                state  = NAVIGATE_WAVES_ROW1;
                break;
            case AQUIRE_TOOL2:
                servoPosition(PU_TOOL_2_STAB);
                wait(2);

                servoPosition(DRIVE_POSITION_TOOL);     //arm position for driving with the tool
                state  = NAVIGATE_WAVES_ROW1;
                break;

            case AQUIRE_TOOL3:
                servoPosition(PU_TOOL_3_STAB);
                wait(2);


                servoPosition(DRIVE_POSITION_TOOL);     //arm position for driving with the tool
                state  = NAVIGATE_WAVES_ROW1;
                break;


                /**************************************************
                *           STAGE 4
                *
                *           - Navigate through the ocean
                *
                **************************************************/

            case NAVIGATE_WAVES_ROW1:
                //*********************//
                //******* TODO ********//
                //*********************//
                // CODE TO NAVIGATE ROW1
                state = NAVIGATE_WAVES_ROW2;
                break;

            case NAVIGATE_WAVES_ROW2:
                //*********************//
                //******* TODO ********//
                //*********************//
                // CODE TO NAVIGATE ROW2
                state = NAVIGATE_WAVES_ROW3;
                break;

            case NAVIGATE_WAVES_ROW3:
                //*********************//
                //******* TODO ********//
                //*********************//
                // CODE TO NAVIGATE ROW3

                //goes to appropriate rig
                if(shape_detected == 1) {
                    state = NAVIGATE_TO_SQUARE_RIG;
                } else if(shape_detected == 2) {
                    state = NAVIGATE_TO_TRIANGLE_RIG;
                } else {
                    state = NAVIGATE_TO_CIRCLE_RIG;
                }
                break;

                /**************************************************
                *           STAGE 5
                *
                *           - Travel to appropriate rig
                *
                **************************************************/
            case NAVIGATE_TO_SQUARE_RIG:
                //NAVIGATION CODE HERE
                state = RIG_ALIGN;
                break;
            case NAVIGATE_TO_TRIANGLE_RIG:
                //NAVIGATION CODE HERE
                state = RIG_ALIGN;
                break;
            case NAVIGATE_TO_CIRCLE_RIG:
                //NAVIGATION CODE HERE
                state = RIG_ALIGN;
                break;

                /**************************************************
                *           STAGE 6
                *
                *           - Align with appropriate rig
                *
                **************************************************/
            case RIG_ALIGN:

                //*********************//
                //******* TODO ********//
                //*********************//
                // CODE TO ALIGN ROBOT WITH RIG

                servoPosition(ORIENT_TOOL);
                wait(1);                        //wait for servos to settle
                state = INSERT_TOOL;
                break;

                /**************************************************
                *           STAGE 7
                *
                *           - Insert Tool
                *           - Extenguish fire
                *           - win contest
                *
                **************************************************/

            case INSERT_TOOL:
                //*********************//
                //******* TODO ********//
                //*********************//
                // CODE TO INSERT TOOL
                break;

                /**************************************************
                *           STAGE 8
                *
                *           - END COMPETITION
                *
                **************************************************/
            case END:
                servoPosition(STORE_POSITION);
                myled1 = 1;
                wait(.2);
                myled2 = 1;
                wait(.2);
                myled3 = 1;
                wait(.2);
                myled4 = 1;
                wait(.2);
                break;
            default:

                break;
        }
    }


}



/************

Servo Functions

**************/

void setServoPulse(uint8_t n, int angle)
{
    int pulse;
    pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE -  MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE);
    float pulselength = 20000;   // 20,000 us per second
    int i = currentPosition[n];
    pc.printf("ServoNumber: %d  Begining Pulse: %d\n\r",n,currentPosition[n]);
    int pulse2;
    if(currentPosition[n] < pulse) {
        for(i; i < pulse; i++) {
            pulse2 = 4094 * i / pulselength;
            pwm.setPWM(n, 0, pulse2);
            wait_ms(3);
        }
    } else if (currentPosition[n] > pulse) {
        for(i; i > pulse; i--) {
            pulse2 = 4094 * i / pulselength;
            pwm.setPWM(n, 0, pulse2);
            wait_ms(3);
        }
    }
    currentPosition[n] = i;
    pc.printf("\nEND: pulse: %d,  angle: %d\n\n", i, angle);
}

void initServoDriver(void)
{
    pwm.begin();
    //pwm.setPWMFreq(100);  //This dosen't work well because of uncertain clock speed. Use setPrescale().
    pwm.setPrescale(140);    //This value is decided for 20ms interval.
    pwm.setI2Cfreq(400000); //400kHz

}

void servoBegin(void)
{
    pc.printf("Setting Initial Position\n\r");
    setServoPulseNo_delay(2, 0);
    setServoPulseNo_delay(3, 162);
    setServoPulseNo_delay(1, 10);
    setServoPulseNo_delay(0, 85);
    setServoPulseNo_delay(4, 175);
    setServoPulseNo_delay(5, 0);
    setGripper(1);
}

void setServoPulseNo_delay(uint8_t n, int angle)
{
    int pulse = MIN_SERVO_PULSE + (( angle * (MAX_SERVO_PULSE -  MIN_SERVO_PULSE)) / SERVO_MAX_ANGLE);
    float pulselength = 20000;   // 20,000 us per second
    currentPosition[n] = pulse;
    //pc.printf("ServoNumber: %d    Pulsewidth: %d  Angle: %d \n\r",n,pulse, angle);
    pulse = 4094 * pulse / pulselength;
    pwm.setPWM(n, 0, pulse);

}

void setGripper(int open)
{
    if (open) {
        pc.printf("Gripper Open\r");
        setServoPulseNo_delay(6, 10);
    } else {
        pc.printf("Gripper  Closed\n\r");
        setServoPulseNo_delay(6, 170);
    }
}

void servoPosition(int set)
{
    //moves to current position
    setServoPulse(3, Arm_Table[set].claw_arm);
    setServoPulse(1, Arm_Table[set].base_arm);
    setServoPulse(2, Arm_Table[set].big_arm);
    setServoPulse(0, Arm_Table[set].base_rotate);
    setServoPulse(4, Arm_Table[set].claw_rotate);
    setServoPulse(5, Arm_Table[set].claw_open);
}


int fire_checker(int rig)
{
    switch (rig) {

        case 1:
            for (int i = 0; i<5; i++) {
                pc.printf("1");
                distLaser = getDistance();
                pc.printf("L DISTANCE: %d \n\r", distLaser);
                if ((distLaser < OILRIG1_MAX)
                        && (distLaser > OILRIG1_MIN)) {
                    fire_detected++;
                } else {
                    fire_not_detected++;
                }
            }
            break;
        case  2:
            for (int i = 0; i<5; i++) {
                distLaser = getDistance();
                pc.printf("L DISTANCE: %d \n\r", distLaser);
                if ((distLaser < OILRIG2_MAX)
                        && (distLaser > OILRIG2_MIN)) {
                    fire_detected++;
                } else {
                    fire_not_detected++;
                }
            }
            break;
        case 3:
            for (int i = 0; i<5; i++) {
                distLaser = getDistance();
                if ((distLaser < OILRIG3_MAX)
                        && (distLaser > OILRIG3_MIN)) {
                    fire_detected++;
                } else {
                    fire_not_detected++;
                }
            }
            break;

        default:
            for (int i = 0; i<5; i++) {
                distLaser = getDistance();
                if ((distLaser < OILRIG1_MAX)
                        && (distLaser > OILRIG1_MIN)) {
                    fire_detected++;
                } else {
                    fire_not_detected++;
                }
            }
            break;
    }

    if (fire_detected > fire_not_detected) {
        return 1;
    } else {
        return 0;
    }
}

void errFunction(void)
{
    //Nothing
}
void wall_follow(int side, int direction, int section)
{
    float location, set=6;
    int dir=1;

    pid1.reset();

    if(direction == BACKWARD) dir=-1;
    if(section == TOOLS)set= 10;

    leftEncoder.reset();
    rightEncoder.reset();

    location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;

    while(location< 66.5) {
        location=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;

        pid1.setInputLimits(0, set);
        pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
        pid1.setSetPoint(set);
        if(side) {
            rangeFinderLeft.startMeas();
            wait_ms(20);
            rangeFinderLeft.getMeas(range);
        } else {
            rangeFinderRight.startMeas();
            wait_ms(20);
            rangeFinderRight.getMeas(range);
            pc.printf("%d\r\n",range);
        }

        if(range > 15) {
            //pc.printf("wavegap %f\r\n",wavegap);
            // AT WAVE OPENING!!!!
            motors.setMotor1Speed(dir*0.25*127);//left
            motors.setMotor0Speed(dir*0.25*127);//right
        } else {

            pid1.setProcessValue(range);
            pid_return = pid1.compute();

            if(pid_return > 0) {
                if(side) {
                    motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
                    motors.setMotor1Speed(dir*MAX_SPEED);//left
                } else {
                    motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
                    motors.setMotor0Speed(dir*MAX_SPEED);//right
                }
            } else if(pid_return < 0) {
                if(side) {
                    motors.setMotor0Speed(dir*MAX_SPEED);//right
                    motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
                } else {
                    motors.setMotor1Speed(dir*MAX_SPEED);//left
                    motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
                }
            } else {
                motors.setMotor0Speed(dir*MAX_SPEED);//right
                motors.setMotor1Speed(dir*MAX_SPEED);//left
            }
        }
    }

    //STOP
    motors.setMotor0Speed(dir*-0.3*127); //right
    motors.setMotor1Speed(dir*-0.3*127); //left
    wait_ms(10);
    motors.stopBothMotors(0);
}

/* MODIFIED WALL_FOLLOW FOR NAVIGATION */

void wall_follow2(int side, int direction, int section, float location, int rig)
{
    int dir=1, limit=86, lowlim=5;
    float set=6, loc=0, Rigloc=0;
    bool SeeWaveGap = false;

    if(rig == 1) Rigloc= 16;
    else if(rig == 2) Rigloc= 45;
    else if(rig== 3) Rigloc = 70;

    pid1.reset();

    if(direction == BACKWARD) {
        dir=-1;
        limit = 100;
    }
    if(section == TOOLS) {
        set= 6;
        limit = 86;
    }
    if(section == RETURN) lowlim=15;

    leftEncoder.reset();
    rightEncoder.reset();

    //pc.printf("before %f\r\n", location);

    pc.printf("dir*loc+location %f\r\n",dir*loc + location );
    pc.printf("limit %d \r\n", limit);

    while((dir*loc + location <= limit) && (dir*loc + location >= lowlim)) {

        loc=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;
        pc.printf("loc %f \r\n", loc);

        pid1.setInputLimits(0.0, set);
        pid1.setOutputLimits( -MAX_SPEED, MAX_SPEED);
        pid1.setSetPoint(set);

        if(side) {
            rangeFinderLeft.startMeas();
            wait_ms(20);
            rangeFinderLeft.getMeas(range);
        } else {
            rangeFinderRight.startMeas();
            wait_ms(20);
            rangeFinderRight.getMeas(range);
        }

        if(section == RIGS) {
            rangeFinderLeft.startMeas();
            wait_ms(20);
            rangeFinderLeft.getMeas(range2);

            if(range2< 20) {
                if( abs(dir*loc + location - Rigloc) < 10) {
                    //STOP
                    motors.setMotor0Speed(dir*-0.25*127); //right
                    motors.setMotor1Speed(dir*-0.25*127); //left
                    wait_ms(5);
                    motors.stopBothMotors(0);
                    break;
                }
            }
        }


        //pc.printf("wall follow 2 range %f\r\n",range);
        //pc.printf("loc+location = %f\r\n", loc+location);
        if(range > 20 ) {
            if(section == RIGS || section == RETURN) {
                motors.setMotor0Speed(dir*0.25*127); //right
                motors.setMotor1Speed(dir*0.25*127); //left
            } else {
                if(!SeeWaveGap) {
                    SeeWaveGap=true;
                } else {
                    //STOP
                    motors.setMotor0Speed(dir*-0.25*127); //right
                    motors.setMotor1Speed(dir*-0.25*127); //left
                    wait_ms(5);
                    motors.stopBothMotors(0);

                    pc.printf("wavegap\r\n");
                    // AT WAVE OPENING!!!!
                    break;
                }
            }
        } else {
            SeeWaveGap = false;
            pid1.setProcessValue(range);
            pid_return = pid1.compute();
            //pc.printf("Range: %f\n      PID:   %f\r\n", range, pid_return);

            if(pid_return > 0) {
                if(side) {
                    motors.setMotor0Speed(dir*MAX_SPEED - dir*pid_return);//right
                    motors.setMotor1Speed(dir*MAX_SPEED);//left
                } else {
                    motors.setMotor1Speed(dir*MAX_SPEED - dir*pid_return);//left
                    motors.setMotor0Speed(dir*MAX_SPEED);//right
                }
            } else if(pid_return < 0) {
                if(side) {
                    motors.setMotor0Speed(dir*MAX_SPEED);//right
                    motors.setMotor1Speed(dir*MAX_SPEED + dir*pid_return);//left
                } else {
                    motors.setMotor1Speed(dir*MAX_SPEED);//left
                    motors.setMotor0Speed(dir*MAX_SPEED + dir*pid_return);//right
                }
            } else {
                motors.setMotor0Speed(dir*MAX_SPEED);
                motors.setMotor1Speed(dir*MAX_SPEED);
            }
        }
    }

    //STOP
    motors.setMotor0Speed(dir*-0.3*127); //right
    motors.setMotor1Speed(dir*-0.3*127); //left
    wait_ms(5);
    motors.stopBothMotors(0);
}


void alignWithWall(int section)
{
    float usValue = 0;

    if(section == TOOLS) {
        pc.printf("tools section align\r\n");
        // turn at an angle
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-1.2*MAX_SPEED); //right
        motors.setMotor1Speed(0.4*MAX_SPEED); //left
        while(rightEncoder.getPulses()>-1000);
        motors.stopBothMotors(0);

        //go backwards toward wall
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-0.25*127); //right
        motors.setMotor1Speed(-0.25*127); //left
        while(abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300);
        motors.stopBothMotors(0);

        // turn left towards wall
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(MAX_SPEED); //right
        motors.setMotor1Speed(-MAX_SPEED); //left
        while(rightEncoder.getPulses() < 20 || abs(leftEncoder.getPulses()) < 20);

        motors.stopBothMotors(0);

        // turning left
        motors.setMotor0Speed(0.9*MAX_SPEED); //right
        motors.setMotor1Speed(-0.9*MAX_SPEED); //left

    } else if( section == RIGS) {
        // check distance to wall
        rangeFinderRight.startMeas();
        wait_ms(20);
        rangeFinderRight.getMeas(range);

        if(range < 4 || range > 20) return;

        // turn at an angle
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor1Speed(-1.2*MAX_SPEED); //left
        motors.setMotor0Speed(0.4*MAX_SPEED); //right
        while(abs(leftEncoder.getPulses())<1000);
        motors.stopBothMotors(0);

        //go backwards toward wall
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-0.25*127); //right
        motors.setMotor1Speed(-0.25*127); //left
        while(abs(leftEncoder.getPulses()) < 150 || abs(rightEncoder.getPulses()) < 150);
        motors.stopBothMotors(0);

        // turn left towards wall
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-MAX_SPEED); //right
        motors.setMotor1Speed(MAX_SPEED); //left
        while(abs(rightEncoder.getPulses()) < 20 || abs(leftEncoder.getPulses()) < 20);

        motors.stopBothMotors(0);

        // turning left
        motors.setMotor0Speed(-0.9*MAX_SPEED); //right
        motors.setMotor1Speed(0.9*MAX_SPEED); //left
    } else {
        pc.printf("in mid section align\r\n");
        // turn right towards wall
        rightTurn();
        // turning left towards wall
        motors.setMotor0Speed(0.9*MAX_SPEED); //right
        motors.setMotor1Speed(-0.9*MAX_SPEED); //left
    }

    usValue = 0;
    while(1) {
        if(section == RIGS) {
            rangeFinderRight.startMeas();
            wait_ms(20);
            rangeFinderRight.getMeas(range);
        } else {
            rangeFinderLeft.startMeas();
            wait_ms(20);
            rangeFinderLeft.getMeas(range);
        }
        pc.printf("Range %f \t OldValue %f\n\r",range, usValue);
        if(range > usValue && usValue != 0 && range < 25) {
            break;
        } else {
            usValue = range;
        }
    }
    motors.stopBothMotors(0);
}

void rightTurn(void)
{
    motors.begin();
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(-0.5*127);//right
    motors.setMotor1Speed(0.5*127);//left
    while(abs(leftEncoder.getPulses())<950 || abs(rightEncoder.getPulses())<950);
    motors.stopBothMotors(0);
}

void leftTurn(void)
{
    motors.begin();
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.5*127);// right
    motors.setMotor1Speed(-0.5*127);// left
    while(abs(leftEncoder.getPulses())<1100 || rightEncoder.getPulses()<1100);
    motors.stopBothMotors(0);
}

void slightleft(void)
{

    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.5*127);// right
    motors.setMotor1Speed(-0.5*127);// left
    while(abs(leftEncoder.getPulses())<90 || rightEncoder.getPulses()<90);
    motors.stopBothMotors(0);
}

void slightright(void)
{

    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(-0.4*127);// right
    motors.setMotor1Speed(0.4*127);// left
    while(abs(leftEncoder.getPulses())<90 || abs(rightEncoder.getPulses())<90);
    motors.stopBothMotors(0);
}

void slightMove(int direction, float pulses)
{
    int dir=1;

    if(direction == BACKWARD) dir= -1;

    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(dir*0.25*127); //right
    motors.setMotor1Speed(dir*0.25*127); //left
    while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses);

    motors.setMotor0Speed(dir*-0.25*127); //right
    motors.setMotor1Speed(dir*-0.25*127); //left
    wait_ms(10);
    motors.stopBothMotors(127);
}

void UntilWall(int dir)
{

    if(dir == BACKWARD) dir=-1;

    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(dir*0.2*127); //right
    motors.setMotor1Speed(dir*0.2*127); //left

    range = 30;

    while(range > 20) {
        rangeFinderRight.startMeas();
        wait_ms(20);
        rangeFinderRight.getMeas(range);
    }

    motors.setMotor0Speed(dir*-0.2*127); //right
    motors.setMotor1Speed(dir*-0.2*127); //left
    wait_ms(5);
    motors.stopBothMotors(0);
}

void overBump(int section)
{
    int preLeft=5000, preRight=5000, out=0;

    motors.begin();
    // slight backwards
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(-0.25*127); //right
    motors.setMotor1Speed(-0.25*127); //left
    while(abs(leftEncoder.getPulses()) < 50 || abs(rightEncoder.getPulses()) < 50);
    motors.stopBothMotors(0);

    pc.printf("slight backwards\r\n");
    wait_ms(200);

    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(0.3*127); //right
    motors.setMotor1Speed(0.3*127); //left
    while((abs(leftEncoder.getPulses()) < 800 || abs(rightEncoder.getPulses()) < 800) /*&& preLeft!=0*/ && IR.getIRDistance() >15 ) {
        /*preLeft=leftEncoder.getPulses();
        preRight=rightEncoder.getPulses();
        wait_ms(200);
        if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;*/
    }

    pc.printf("forward \r\n");
    wait_ms(200);
    /*
       motors.stopBothMotors(0);
       motors.begin();

       leftEncoder.reset();
       rightEncoder.reset();
       motors.setMotor0Speed(0.3*127); //right
       motors.setMotor1Speed(0.3*127); //left

       while(!out) {
           preLeft=leftEncoder.getPulses();
           preRight=rightEncoder.getPulses();

           rangeFinderLeft.startMeas();
           rangeFinderRight.startMeas();
           wait_ms(20);
           rangeFinderLeft.getMeas(range);
           rangeFinderRight.getMeas(range2);
           if(range < 10 || range2 < 10) out=1;

           if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) {
               motors.setMotor0Speed(0.4*127); //right
               motors.setMotor1Speed(0.4*127); //left
               wait_ms(50);
               out=1;
           }
           if(abs(leftEncoder.getPulses()) >1000 || abs(leftEncoder.getPulses())>1000) out=1;
       }
       */

    motors.stopBothMotors(0);
    motors.begin();

    preLeft=preRight=5000 ;
    leftEncoder.reset();
    rightEncoder.reset();
    motors.setMotor0Speed(.25*127); //right
    motors.setMotor1Speed(.25*127); //left

    if(section == TOOLS) {
        while(IR.getIRDistance() > 10 && (abs(leftEncoder.getPulses()) < 300 || abs(rightEncoder.getPulses()) < 300) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {

            if(IR.getIRDistance() > 38) break;

            preLeft=leftEncoder.getPulses();
            preRight=rightEncoder.getPulses();
            wait_ms(200);
        }
    } else if(section == MID || section == MID2) {
        if(section == MID2) while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400));
        while(IR.getIRDistance() > 15 && (abs(leftEncoder.getPulses()) < 400 || abs(rightEncoder.getPulses()) < 400) && (leftEncoder.getPulses() != preLeft || rightEncoder.getPulses() != preRight)) {

            if(IR.getIRDistance() > 38) break;

            preLeft=leftEncoder.getPulses();
            preRight=rightEncoder.getPulses();
            wait_ms(200);
        }

    } else {
        while(abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100);

        leftEncoder.reset();
        rightEncoder.reset();

        motors.setMotor0Speed(-.15*127); //right
        motors.setMotor1Speed(-.15*127); //left
        while((abs(leftEncoder.getPulses()) < 100 || abs(rightEncoder.getPulses()) < 100) && preLeft!=0 ) {
            preLeft = leftEncoder.getPulses();
            preRight = rightEncoder.getPulses();
            wait_ms(200);
            if(leftEncoder.getPulses() == preLeft || rightEncoder.getPulses()== preRight) preLeft=preRight=0;
        }

        leftEncoder.reset();
        rightEncoder.reset();

        motors.setMotor0Speed(0.25*127); //right
        motors.setMotor1Speed(0.25*127); //left
        while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10));

        motors.stopBothMotors(0);

        return;
    }

    leftEncoder.reset();
    rightEncoder.reset();

    motors.setMotor0Speed(-.25*127); //right
    motors.setMotor1Speed(-.25*127); //left
    while((abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses()) < 10));

    motors.stopBothMotors(0);
    wait_ms(20);
    motors.begin();

}

void to_tools_section2(float* location, float &current)
{
    slightMove(FORWARD,3200);
    current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;

}
void to_tools_section1(float* location, float &current)
{
    slightMove(FORWARD,6450);
    current+=(abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2;

}

void from_tools_section(float* location, float &current)
{


    alignWithWall(TOOLS);
    pc.printf("align\r\n");
    wait_ms(100);

    //wall_follow2(LEFT,FORWARD,MID, current);
    //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);

    rangeFinderLeft.startMeas();
    wait_ms(20);
    rangeFinderLeft.getMeas(range);

    if(range < 20) {
        wall_follow2(LEFT,BACKWARD,TOOLS, current,0);
        pc.printf("wall follow\r\n");
        location[0]= current - ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        current= location[0];
        pc.printf("current %f \r\n",current);
        // go backwards
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(-MAX_SPEED); //right
        motors.setMotor1Speed(-MAX_SPEED); //left
        while(abs(leftEncoder.getPulses()) < 120 || abs(rightEncoder.getPulses())< 120);
        // hard stop
        leftEncoder.reset();
        rightEncoder.reset();
        motors.setMotor0Speed(MAX_SPEED); //right
        motors.setMotor1Speed(MAX_SPEED); //left
        while(abs(leftEncoder.getPulses()) < 10 || abs(rightEncoder.getPulses())< 10);
        motors.stopBothMotors(0);

        wait_ms(100);
        leftTurn();
        overBump(TOOLS);
    } else {
        pc.printf("else greater than 20\r\n");
        location[0]= current;
        leftTurn();
        overBump(TOOLS);
    }

    pc.printf("First Wavegap = %f\r\n",location[0]);

}

void mid_section(float* location, float &current, int* direction)
{
    motors.begin();

    if(IR.getIRDistance() > 38) {
        direction[0]= STRAIGHT;
        overBump(MID);
        return;
    }
    pc.printf("before align with wall \r\n");
    alignWithWall(MID);
    wait_ms(100);

    pc.printf("mid section current = %f\r\n",current);
    wall_follow2(LEFT,FORWARD,MID, current,0);
    current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    pc.printf("after wf2 current = %f\r\n",current);

    wait_ms(500);
    rangeFinderLeft.startMeas();
    wait_ms(20);
    rangeFinderLeft.getMeas(range);

    if(range > 20 ) {
        direction[0]= RIGHT;
        location[1]= current;
        slightMove(FORWARD,75);
        //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    } else {
        direction[0]= LEFT;
        wall_follow2(LEFT,BACKWARD,MID,current,0);
        location[1]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        current= location[1];

        if(location[1] < 18) {
            slightMove(FORWARD, 50);
            current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        }

    }

    pc.printf("wavegap2 = %f\r\n",location[1]);
    leftTurn();

    wait_ms(100);

    overBump(MID);

}

void mid_section2(float* location, float &current, int* direction)
{
    motors.begin();

    pc.printf("mid section 2\r\n");

    if(IR.getIRDistance() > 38) {
        direction[1]= STRAIGHT;
        overBump(RIGS);
        return;
    }

    alignWithWall(MID);
    pc.printf("midsection 2 alignt with wall mid \r\n");

    wall_follow2(LEFT,FORWARD,MID, current,0);
    current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);

    wait_ms(500);

    pc.printf("midseection 2 after wf2 %f",current);
    rangeFinderLeft.startMeas();
    wait_ms(20);
    rangeFinderLeft.getMeas(range);

    if(range > 20 ) {
        direction[1]= RIGHT;
        location[2]= current;
        slightMove(FORWARD,75);
        //current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    } else {
        direction[1]= LEFT;
        wall_follow2(LEFT,BACKWARD,MID,current,0);
        location[2]= current- ((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        current=location[2];
        //slightMove(FORWARD,500);
    }

    leftTurn();
    overBump(RIGS);
    pc.printf("overbump rigs\r\n");
}

void rig_section(float* location, float &current, int* direction, int rig)
{
    float loc;

    if(rig == 1) loc= 15;
    else if(rig == 2) loc= 45;
    else loc = 75;

    rightTurn();
    slightright();

    if(current > loc) {
        pc.printf("RIG section %f\r\n",current);
        wall_follow2(RIGHT, BACKWARD, RIGS, current, rig);
        current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    } else {
        pc.printf("RIG section %f\r\n",current);
        wall_follow2(RIGHT, FORWARD, RIGS, current, rig);
        current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    }
}

void tools_section_return(float* location, float &current)
{
    if(location[0] > 16) {
        leftTurn();
        wall_follow2(LEFT, BACKWARD, RETURN, location[0], 0);
    }
    motors.stopBothMotors(0);

}

void mid_section_return(float* location, float &current, int* direction)
{
    if(direction[0] == RIGHT) {
        leftTurn();
        alignWithWall(MID);
        wall_follow2(LEFT, BACKWARD, MID, current,0);
        current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        rightTurn();
    } else if(direction[0] == LEFT) {
        leftTurn();
        wall_follow2(RIGHT, FORWARD, MID, current,0);
        current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        rightTurn();
    }
    //ELSE and GO FORWARD
    overBump(RIGS);
}

void mid_section2_return(float* location, float &current, int* direction)
{
    if(direction[1] == RIGHT) {
        leftTurn();
        wall_follow2(LEFT, BACKWARD, MID, current,0);
        current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        rightTurn();
    } else if(direction[1] == LEFT) {
        leftTurn();
        wall_follow2(RIGHT, FORWARD, MID, current,0);
        current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
        rightTurn();
    }
    //ELSE and GO FORWARD
    overBump(MID);
}

void rig_section_return(float* location, float &current, int* direction)
{
    alignWithWall(RIGS);
    if(location[2] > current) {
        wall_follow2(RIGHT, FORWARD, MID, current,0);
        current+=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    } else {
        wall_follow2(RIGHT, BACKWARD, MID, current,0);
        current-=((abs(leftEncoder.getPulses()*11.12/PPR) + abs(rightEncoder.getPulses()*11.12/PPR))/2);
    }
    rightTurn();
    overBump(MID2);
}