Documentation for UR Team 3 Robot Program

Functions For Bluetooth Connection:

executeCommand(int command); execute a function

Functions For Ultrasonic Sensor Reading:

getFrontDistance(); return int in cm
getLeftDistance(); return int in cm

Functions For Robot Movement:

1) Perform forward movement

moveForward(int speed);
moveForward(unsigned long time,int speed);

2) Perform left turn movement

turnLeft(int speed);
turnLeft(unsigned long time, int speed);

3) Perform right turn movement

turnRight(int speed);
turnRight(unsigned long time, int speed);

4) Perform backward movement

moveBackward(int speed);
moveBackward(unsigned long time, int speed);

5) Stop the robot from moving

brake();
brake(unsigned long time);

Functions For Maze:

1) Starts the maze algorithm

startMaze(bool leftMode);

2) Notify the robot that the maze is completed and the maze algorithm can be stopped

setMazeCompleted();