# Flipping

```
// Do not remove the include below
#include "PlutoPilot.h"
#include "Motor.h"
#include "Control.h"
#include "Estimate.h"
#include "Sensor.h"
#include "Utils.h"
#include "User.h"

int angle;

#define ABS(x) ((x) > 0 ? (x) : -(x))


//The setup function is called once at Pluto's hardware startup
void plutoInit()
{
Motor.initReversibleMotors();
// Add your hardware initialization code here
}



//The function is called once before plutoLoop when you activate Developer Mode
void onLoopStart()
{
LED.flightStatus(DEACTIVATE);
Motor.setDirection(M1,ANTICLOCK_WISE);
Motor.setDirection(M2,CLOCK_WISE);
Motor.setDirection(M3,ANTICLOCK_WISE);
Motor.setDirection(M4,CLOCK_WISE);
  // do your one time stuff here

}



// The loop function is called in an endless loop
void plutoLoop()
{
angle = Angle.get(AG_ROLL);
Monitor.println("Angle is: ", angle);
if (!FlightStatus.check(FS_ARMED))
{
if (ABS(angle)<1800 && ABS(angle)>800)
{
Motor.set(M1, 2000);
Motor.set(M2, 2000);
}
else
{
Motor.set(M1, 1000);
Motor.set(M2, 1000);
Motor.set(M3, 1000);
Motor.set(M4, 1000);
}
}

//Add your repeated code here

}



//The function is called once after plutoLoop when you deactivate Developer Mode
void onLoopFinish()
{
Motor.set(M1, 1000);
Motor.set(M2, 1000);
Motor.set(M3, 1000);
Motor.set(M4, 1000);
Motor.setDirection(M1,CLOCK_WISE);
Motor.setDirection(M2,ANTICLOCK_WISE);
Motor.setDirection(M3,CLOCK_WISE);
Motor.setDirection(M1,ANTICLOCK_WISE);

LED.flightStatus(ACTIVATE);


// do your cleanup stuffs here

}

```


---

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