diff options
Diffstat (limited to 'robot/movement.c')
| -rw-r--r-- | robot/movement.c | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/robot/movement.c b/robot/movement.c index 61a944b..37d66d5 100644 --- a/robot/movement.c +++ b/robot/movement.c @@ -1,9 +1,11 @@ #include "movement.h" #include "orangutan_shim.h" -unsigned int g_w2_sensors[5] = {0}; -unsigned int g_w2_position = 0; +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); delay_ms(500); @@ -14,6 +16,7 @@ void w2_maze_rotation_full() { delay_ms(500); } +//left turn maze/charge void w2_maze_rotation_half_left() { set_motors(0, 0); set_motors(50, 50); @@ -24,6 +27,8 @@ void w2_maze_rotation_half_left() { 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); @@ -37,6 +42,7 @@ void w2_maze_rotation_half_right() { delay_ms(500); } +//180 turn in grid void w2_grid_rotation_full() { set_motors(60, -60); delay_ms(540); @@ -44,6 +50,7 @@ void w2_grid_rotation_full() { 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); delay_ms(600); @@ -51,6 +58,7 @@ void w2_grid_rotation_half_left() { 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); delay_ms(600); |