#ifndef _GOLINE_
#define _GOLINE_
#include "HardwareInfo.c"
#include "turnAngle.c"
#include <SetMotor.h>
#include <GetUltrasound.h>
#include "returnOut.c"

void goline(unsigned int No, unsigned char yfy, unsigned int angle, unsigned int distance)
{
    unsigned char fyMax = 0;   //當前復眼所有通道的最大光值。
    unsigned char i = 0;   //returnOut()的返回值。
    unsigned int distance_middle = 0;   //裝在機器人后面的超聲波測距模塊的返回變量值。
    turnAngle(angle, yfy);
    SetMotor(_MOTOR_left_, 0, 70);
    SetMotor(_MOTOR_right_, 0, 60);
    for (int _FOR_0_ = 0; _FOR_0_ < No; _FOR_0_++ )
    {
        distance_middle = GetUltrasound(_ULTRASOUND_middle_);
        if ( distance_middle>31 )
        {
            break;
        }
        i = returnOut(yfy);
        if ( i==1 )
        {
            return ;
        }
    }
}
#endif