int main(int argc, char **argv) {
Motor_init();
Sensor_init();
Button_init();
Compass_init();
turnCount = 0;
while(1) {
int front = (Sensor_getDistance(Sensor_FRONT_LEFT) +
Sensor_getDistance(Sensor_FRONT_RIGHT)) / 2;
while(front > 20) {
if(Compass_inRange(startDir, 15, 180))
Motor_steerLeft(0.9);
else if(Compass_inRange(startDir, 180, 45))
Motor_steerRight(0.9);
else
Motor_forward();
}
hugObstacle();
}
Motor_cleanUp();
Sensor_cleanUp();
Button_cleanUp();
}
int8_t initSensors(){
int8_t err1 = Accelerometer_init();
int8_t err2 = Compass_init();
int8_t err3 = Gyroscope_init();
err3 = getGyroCalibrationOffset();
if (err1) {
return err1;
}
if (err2) {
return err2;
}
if (err3) {
return err3;
}
return NO_ERR; //dont know how to return multiple errors
}
