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);
+}