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#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);
}
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