Following the black line with a rover 2.and descending a erect set_servo position.

#define RightRM 1
#define LeftRM 3
#define LEFTSERVO 3
#define RIGHTSERVO 0
float distance;
float rotation;
#define TpC 41.23//re-configure values based on wheel size
#define TpD 14.9694//re-configure values based on wheel size

void black_line ()
{
float i;
while(1)
 
{
	while(analog10(2&&3)>920){ //while both sensors 2 and 3 see white, move forward
			bk(1);
			bk(3);
 
    if(analog10(2)<920)  //if sensor 2 see's black (left side) it will move left, to get off the black line)
			mav(1,-1000);
			mav(3,300);
	if(analog10(3)<920) // if sensor 3 see's black (right side) it will move right, to get off the black line)
		mav(1,-300);
		mav(3,1000);
i = 5.0;
 
 
 
while(digital(14))  //when the touch sensor is pressed, bot stops moving, and dumps balls, then descends the basket from dumping position
{
	ao();
	Dump_balls();
	Decend_balls();
 
}
}
}
}
}

void black_line ()
{
float i;
while(1)
 
{
if(analog10(2)>650) 
			mav(3,300);
			mav(1,-1000);
i = 5.0;
 
{
 
	while(analog10(2)<650){
			mav(3,-1000);
			mav(1,300);
 
while(digital(14))
{
	ao();
	Dump_balls();
 
}
}
}
}
}

void Dump_balls() //dump balls into tower
{
int i = 0;
 
for(i = 0; i < 950; i+= 40) //go up at a certain speed to prevent launching of balls
{
set_servo_position(LEFTSERVO,i);
set_servo_position(RIGHTSERVO,i);
	sleep(.1);
 
 
}
}

void Decend_balls()
{
	int i = 950; //we replaced the 0 with 950, thinking it would start the servos at it's already                   950 position, we were wrong.
	for(i =950; i < 0; i-=40) //in fact we're not sure if we did this right at all.
	{
		set_servo_position(LEFTSERVO,i);
		set_servo_position(RIGHTSERVO,i);
		sleep(.1);
	}