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-rw-r--r--robot/movement.c58
1 files changed, 40 insertions, 18 deletions
diff --git a/robot/movement.c b/robot/movement.c
index b4ad3c1..82829c1 100644
--- a/robot/movement.c
+++ b/robot/movement.c
@@ -4,35 +4,57 @@
unsigned int g_w2_sensors[5] = {0};
unsigned int g_w2_position = 0;
-void w2_full_rotation() {
- set_motors(0, 0);
+void w2_maze_rotation_full(){
+ set_motors(0,0);
delay_ms(500);
- set_motors(60, -60);
+ set_motors(60,-60);
delay_ms(540);
- set_motors(0, 0);
- g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
+ 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);
+void w2_maze_rotation_half_left(){
+ set_motors(0,0);
+ set_motors(50,50);
delay_ms(150);
- set_motors(-30, 30);
+ set_motors(-30,30);
delay_ms(600);
- set_motors(0, 0);
- g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
+ 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);
+void w2_maze_rotation_half_right(){
+ set_motors(0,0);
+ set_motors(50,50);
delay_ms(150);
- set_motors(30, -30);
+ set_motors(30,-30);
delay_ms(600);
- set_motors(0, 0);
- set_motors(50, 50);
+ set_motors(0,0);
+ set_motors(50,50);
delay_ms(150);
- g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
+ g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
delay_ms(500);
}
+
+void w2_grid_rotation_full(){
+ set_motors(60,-60);
+ delay_ms(540);
+ set_motors(10,10);
+ g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+}
+
+void w2_grid_rotation_half_left(){
+ set_motors(-30,30);
+ delay_ms(600);
+ set_motors(10,10);
+ g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+}
+
+void w2_grid_rotation_half_right(){
+ set_motors(30,-30);
+ delay_ms(600);
+ set_motors(10,10);
+ g_w2_position = read_line(g_w2_sensors,IR_EMITTERS_ON);
+}