#include "orangutan_shim.h"
#include "movement.h"

unsigned int g_w2_sensors[5]		= {0};
unsigned int g_w2_position			= 0;

void w2_maze_rotation_full(){
	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_maze_rotation_half_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_maze_rotation_half_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);
}

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);
}