RPG Complete

#include <kipr/wombat.h>
//motor right zero, motor left 2
int main()
{
   wait_for_light(0);
		mav(0,0);
msleep(20000);
    int turn = 1300;
    int straight = 1000;
    // waiting to cross black tape
    while (analog(1) < 1600)
    {
        mav(0,800);
        mav(2,800);
        msleep(100);
    }
   // crossing black tape to other side
        mav(0,800);
        mav(2,800); 
        msleep(900);
    
    ao();
    // 90 degree turn clockwise
    mav(0,-1500);
    mav(2,1500);
    msleep(850);
    // move forward
    mav(0,1175);
    mav(2,1000);
    msleep(1800);
    
    cmpc(0);
    //start line follow
    while(gmpc(0)< 20000)  // The 17000 respents ticks in the wheel or the distance the wheel has turned.
    {
        if (analog(1)<1600)
        {
            mav(0,straight);
            mav(2, turn);
            msleep(100);
            
        }
        else
        {
            mav(0,turn);
            mav(2,straight);
            msleep(100);
        }
    }
    mav(0,-1500);
    mav(2,-1500);
    msleep(500);
    mav(0,750);
    mav(2,750);
    msleep(1000);
    mav(0,1500);
    mav(2,1500);
    msleep(700);
    mav(0,-1500);
    mav(2,-1500);
    msleep(1000);
    mav(0,1500);
    mav(2,1500);
    msleep(2000);
    ao;

    return 0;
}