//inside main loop
int main() {
        //////////////////////////////
        ///Skipping Unmodified Codes//
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//Around Line 80

    ColorFinder* green_finder = new ColorFinder(120, 45, 35, 0, 0.3, 40.0);
    ColorFinder* blue_finder = new ColorFinder(225, 15, 45, 0, 0.3, 50.0);
    //created 2 new ColorFinder objects to find color green and blue
    
    BallTracker marker_tracker = BallTracker();
    //created a new BallTracker object to use camera tracking
    BallFollower marker_follower = BallFollower();
    //created a new BallFollower object to follow target/marker
    int _marker_found = 0;
    //created a flag for marker
        //////////////////////////////
        ///Skipping Unmodified Codes//
        //////////////////////////////
//inside while loop
while(1) {

    int greenCount = 0, blueCount = 0;
    //created 2 int to store filtered pixel counts
    Point2D green, blue, center;
    //created 3 objects of Point2D class

else if(StatusCheck::m_cur_mode == SPRINT) //under a new mode called Sprint
    {
    
    green = green_finder->GetPosition(LinuxCamera::GetInstance()->fbuffer->m_HSVFrame, greenCount);
    //using the modified GetPosition function that also return filtered pixel counts
    blue = blue_finder->GetPosition(LinuxCamera::GetInstance()->fbuffer->m_HSVFrame, blueCount);
    //store position of green and blue color
    
    if(green.X < 0 || blue.X < 0)
        center.X = -1;
    else
        center.X = (green.X + blue.X)/2;
    if(green.Y < 0 || blue.Y < 0)
	center.Y = -1;
    else 
        center.Y = (green.Y + blue.Y)/2;
    //calculate center of blue and green    
        
    _marker_found = marker_tracker.SearchAndTracking(center);
    //use camera tracking and raise the flag if marker is found
    
    }
        //////////////////////////////
        ///Skipping Unmodified Codes//
        //////////////////////////////
//around Line 350 Add
  case SPRINT:
  //implement new codes here to execute after pressing start button
            if(Action::GetInstance()->IsRunning() == 0)
            {
                Head::GetInstance()->m_Joint.SetEnableHeadOnly(true, true);
                Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
                //Initialize walking module and head joints
                
                if(Walking::GetInstance()->IsRunning() == false && _ball_found != 1){
            	Walking::GetInstance()->X_MOVE_AMPLITUDE = 30.0;
                //Set forward and back step length to 30cm
                
            	Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
                //Set yaw step length to 0
               
            	Walking::GetInstance()->Start();
            	}
            
                if(_marker_found == 1)
                {
                marker_follower.Process(marker_tracker.ball_position);
                //use BallFollower object to start following marker
                
                        if(greenCount >= 10500 || blueCount >= 10500)
                        //pixel count can be used to approximate distance, but in this case, 
                        //this stop condition is sufficient                                 
                        {
                        Walking::GetInstance()->Stop();
			fprintf(stderr, "stop\n");
			while(Walking::GetInstance()->IsRunning() == true) usleep(1000000);
                        }
                 }
                 else
                 {
                 Walking::GetInstance()->X_MOVE_AMPLITUDE = 30.0;
                 Walking::GetInstance()->A_MOVE_AMPLITUDE = 0.0;
                 }       
             }