diff options
Diffstat (limited to 'robot/movement.c')
| -rw-r--r-- | robot/movement.c | 38 |
1 files changed, 38 insertions, 0 deletions
diff --git a/robot/movement.c b/robot/movement.c new file mode 100644 index 0000000..b4ad3c1 --- /dev/null +++ b/robot/movement.c @@ -0,0 +1,38 @@ +#include "orangutan_shim.h" +#include "movement.h" + +unsigned int g_w2_sensors[5] = {0}; +unsigned int g_w2_position = 0; + +void w2_full_rotation() { + set_motors(0, 0); + delay_ms(500); + set_motors(60, -60); + delay_ms(540); + set_motors(0, 0); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); + delay_ms(500); +} + +void w2_half_rotation_left() { + set_motors(0, 0); + set_motors(50, 50); + delay_ms(150); + set_motors(-30, 30); + delay_ms(600); + set_motors(0, 0); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); + delay_ms(500); +} +void w2_half_rotation_right() { + set_motors(0, 0); + set_motors(50, 50); + delay_ms(150); + set_motors(30, -30); + delay_ms(600); + set_motors(0, 0); + set_motors(50, 50); + delay_ms(150); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); + delay_ms(500); +} |