INITIALISATION

Beginning

Initialise our variables

Firsts are constants

Seconds are information for the robot

Thirds are positioning information

Lasts are information needed for Bluetooth

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Go Straight

Different functions to manage the movement speed

Check Robot / Move Robot

Task Move / Go Home Function (Touchdown)

Function to move by steps

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Turning

Basic Turn function

Accurate Turn function

Orientation & Orientation Refering to starting angle

• Turn alpha

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Bluetooth

Each message is handled by his action type (message[4])

Cast : ByteToInt, IntToByte

Receiving Messages

Sending Messages

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Finding the ball

Research Function Manager

First phase of the search

Second phase of the search

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Main task

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