void deposite() { forward(100); reverse(100, 800); pivot_left(100,700); forward(100); pivot_left(100, 900); }
void pivot_dir(unsigned char speed, unsigned char direction){ if (direction == DIR_LEFT){ pivot_left(speed); } else { pivot_right(speed); } }
//one bumper is down, now pivot until the other is down void bumped_aligning_with_server_fn(){ if (just_entered_state){ if (direction_of_interest == DIR_LEFT){ debug_blue->led_on(); pivot_left(10); } else if (direction_of_interest == DIR_RIGHT){ debug_green->led_on(); pivot_right(10); } start_timer(MAIN_STATE_TIMER, 3000); // move_forwards(10); } if (respond_to_timer(MAIN_STATE_TIMER, MOVING_FW_TO_ALIGN_WITH_SERVER)) return; // if (respond_to_timer(MAIN_STATE_TIMER, EXTENDING_BUTTON_PRESSER)) return; if (respond_to_both_bumpers_bumped(bumper_l, bumper_r, EXTENDING_BUTTON_PRESSER)) return; }