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Motor_Functions.ino
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Motor_Functions.ino
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//-------------------------------------------------------void Cbrake--------------------------------------------------------------------------
void Cbrake()
{
brake(motor1, motor2);
delay(20);
motor1.drive(-50);
motor2.drive(-50);
delay(70);
brake(motor1, motor2);
}
//-------------------------------------------------------void go_left--------------------------------------------------------------------------
void go_left()
{
while (analogRead(1) > SValue[1][2])
{
motor1.drive(-80);
motor2.drive(-80);
}
brake(motor1, motor2);
delay(100);
motor1.drive(-80);
motor2.drive(100);
delay (300);
while (analogRead(5) > SValue[5][2])
{
motor1.drive(-80);
motor2.drive(100);
}
brake(motor1, motor2);
delay(100);
for (int m = 0; m < 500; m++)
{
line_follow();
}
}
//-------------------------------------------------------void go_x--------------------------------------------------------------------------
void go_x()
{
while (analogRead(3) > SValue[3][2])
{
motor1.drive(-100);
motor2.drive(-100);
}
while (analogRead(5) > SValue[5][2])
{
motor1.drive(-80);
motor2.drive(100);
}
brake(motor1, motor2);
delay(100);
for (int m = 0; m < 500; m++)
{
line_follow();
}
}
//-------------------------------------------------------void go_right--------------------------------------------------------------------------
void go_right()
{
while (analogRead(6) > SValue[6][2])
{
motor1.drive(-80);
motor2.drive(-80);
}
brake(motor1, motor2);
delay(100);
motor1.drive(100);
motor2.drive(-80);
delay (300);
while (analogRead(4) > SValue[4][2])
{
motor1.drive(100);
motor2.drive(-80);
}
brake(motor1, motor2);
delay(100);
for (int m = 0; m < 500; m++)
{
line_follow();
}
}
//-------------------------------------------------------void go_y--------------------------------------------------------------------------
void go_y()
{
while (analogRead(3) > SValue[3][2])
{
motor1.drive(-100);
motor2.drive(-100);
}
while (analogRead(4) > SValue[4][2])
{
motor1.drive(100);
motor2.drive(-80);
}
brake(motor1, motor2);
delay(100);
for (int m = 0; m < 500; m++)
{
line_follow();
}
}
//-------------------------------------------------------void go_straight--------------------------------------------------------------------------
void go_straight()
{
for (int m = 0; m < 500; m++)
{
line_follow();
}
}
//-------------------------------------------------------void u_turn--------------------------------------------------------------------------
void u_turn()
{
motor1.drive(-100);
motor2.drive(-100);
delay(200);
brake(motor1, motor2);
delay(100);
while (analogRead(2) > SValue[2][2])
{
motor1.drive(60);
motor2.drive(-80);
}
brake(motor1, motor2);
delay(50);
while (analogRead(5) > SValue[5][2])
{
motor1.drive(-80);
motor2.drive(65);
}
brake(motor1, motor2);
delay(100);
for (int m = 0; m < 500; m++)
{
line_follow();
}
}
void blockTurn()
{
// motor1.drive(-100);
// motor2.drive(-100);
// delay(150);
// brake(motor1, motor2);
// delay(100);
motor1.drive(60);
motor2.drive(-80);
delay(300);
while (analogRead(2) > SValue[2][2])
{
motor1.drive(60);
motor2.drive(-80);
}
brake(motor1, motor2);
delay(50);
while (analogRead(5) > SValue[5][2])
{
motor1.drive(-80);
motor2.drive(65);
}
brake(motor1, motor2);
delay(100);
for (int m = 0; m < 500; m++)
{
line_follow();
}
}