How to detect cliffs?

You can use the logical OR operator || to test whether the cliff or bumper is hit. E.g.:

if(cliff || bump) // Substitute the relevant functions for cliff and bump sensors
{
// Something got triggered
}

Hope this helps.

I did this but for some reason after the first inner while loop is done it goes up to the top. Do you know what can I do so it goes further ahead?

// Created on Mon Jul 18 2011

#include

int main()
{

create_connect();

while(1)
{

create_drive_straight(100);

while (get_create_lbump(1) || get_create_rbump(1) || get_create_lcliff(1) )
{

create_drive_straight(-300); sleep(2);
create_spin_CW(300); sleep(0.6);
create_drive_straight(300); sleep(3);
}

while (get_create_lcliff(1) )
{
create_stop();
create_drive_straight(-300); sleep(1.5);
create_drive_straight(500); sleep(1.5); create_drive_straight(500);
while(get_create_lbump(1))
{
create_drive_straight(-300); sleep(0.5);
create_spin_CW(500); sleep(3);
create_drive_straight(400); sleep(5);
}
while (get_create_rbump(1))
{
create_drive_straight(-300); sleep(0.5);
create_spin_CW(500); sleep(3);
create_drive_straight(400); sleep(5);
}
}

}

}

I'm not certain what your code is trying to accomplish... you have three nested while loops; I suspect that that isn't what you want. Both of your while loops will not execute if the lcliff sensor is false. Exactly what behavior are you trying to achieve? (Feel free to post pseudocode.)

Well after the first inner loop drive directly until it hits something again, but turn in a different way. and I want to keep doing that infinitly ( not infinity just doing it until lets say i turn around a few places I want)

Since both of your inner while loops do the same thing, I would changet hem to if statements and lump them together after a while loop that does nothing until bumped:

//rest of code above

while(get_create_rbump(1)==0&&get_create_lbump(1)==0){}
if (get_create_rbump(1)||get_create_lbump(1))
{
create_drive_straight(-300); sleep(0.5);
create_spin_CW(500); sleep(3);
create_drive_straight(400); sleep(5);
}
//continue to end below