[WIP] last touches for second assessment

1 files changed, 19 insertions, 18 deletions

diff --git a/robot/movement.c b/robot/movement.c
index e348410..b800464 100644
--- a/robot/movement.c
+++ b/robot/movement.c
@@ -1,41 +1,42 @@
 #include "movement.h"
 #include "orangutan_shim.h"
+#include "io.h"
 
 unsigned int g_w2_sensors[5] = {0}; // IR sensors on the bottom of the robot
 unsigned int g_w2_position	 = 0;	// position on the black line
 
 // full rotation maze/charge
 void w2_maze_rotation_full() {
-	set_motors(0, 0);
+	w2_set_motors(0, 0);
 	delay_ms(500);
-	set_motors(60, -60);
+	w2_set_motors(60, -60);
 	delay_ms(540);
-	set_motors(0, 0);
+	w2_set_motors(0, 0);
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	delay_ms(500);
 }
 
 // left turn maze/charge
 void w2_maze_rotation_half_left() {
-	set_motors(0, 0);
-	set_motors(50, 50);
+	w2_set_motors(0, 0);
+	w2_set_motors(50, 50);
 	delay_ms(150);
-	set_motors(-30, 30);
+	w2_set_motors(-30, 30);
 	delay_ms(600);
-	set_motors(0, 0);
+	w2_set_motors(0, 0);
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	delay_ms(500);
 }
 
 // right turn maze/charge
 void w2_maze_rotation_half_right() {
-	set_motors(0, 0);
-	set_motors(50, 50);
+	w2_set_motors(0, 0);
+	w2_set_motors(50, 50);
 	delay_ms(150);
-	set_motors(30, -30);
+	w2_set_motors(30, -30);
 	delay_ms(600);
-	set_motors(0, 0);
-	set_motors(50, 50);
+	w2_set_motors(0, 0);
+	w2_set_motors(50, 50);
 	delay_ms(150);
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 	delay_ms(500);
@@ -43,24 +44,24 @@ void w2_maze_rotation_half_right() {
 
 // 180 turn in grid
 void w2_grid_rotation_full() {
-	set_motors(60, -60);
+	w2_set_motors(60, -60);
 	delay_ms(540);
-	set_motors(10, 10);
+	w2_set_motors(10, 10);
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }
 
 // left turn in grid
 void w2_grid_rotation_half_left() {
-	set_motors(-30, 30);
+	w2_set_motors(-30, 30);
 	delay_ms(600);
-	set_motors(10, 10);
+	w2_set_motors(10, 10);
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }
 
 // right turn in grid
 void w2_grid_rotation_half_right() {
-	set_motors(30, -30);
+	w2_set_motors(30, -30);
 	delay_ms(600);
-	set_motors(10, 10);
+	w2_set_motors(10, 10);
 	g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
 }