void soft_left_degrees(unsigned int Degrees)
{
// 176 pulses for 360 degrees rotation 2.045 degrees per count
soft_left(); //Turn soft left
Degrees=Degrees*2;
angle_rotate(Degrees);
}
void soft_right_2_degrees(unsigned int Degrees)
{
// 176 pulses for 360 degrees rotation 2.045 degrees per count
soft_right_2(); //Turn reverse soft right
Degrees=Degrees*2;
angle_rotate(Degrees);
}
void uTurn()
{
buzzer();
right();
angle_rotate(190);
//_delay_ms(1000);
}
void soft_left_2_degrees(unsigned int Degrees)
{
// 56 pulses for 360 degrees rotation 12.85 degrees per count
soft_left_2(); //Turn reverse soft left
Degrees=Degrees*2;
angle_rotate(Degrees);
}
void soft_right_degrees(unsigned int Degrees)
{
// 56 pulses for 360 degrees rotation 12.85 degrees per count
soft_right(); //Turn soft right
Degrees=Degrees*2;
angle_rotate(Degrees);
}
void right_degrees(unsigned int Degrees)
{
// 28 pulses for 360 degrees rotation 12.92 degrees per count
//right(); //Turn right
//angle_rotate(Degrees);
soft_right(); //Turn soft right
Degrees=Degrees*2;
angle_rotate(Degrees);
}
void left_degrees(unsigned int Degrees)
{
// 28 pulses for 360 degrees rotation 12.92 degrees per count
//left(); //Turn left
//angle_rotate(Degrees);
soft_left(); //Turn soft left
Degrees=Degrees*2;
angle_rotate(Degrees);
}
void nodeInd()
{
lcd_print(2, 1, 0, 1);
turnDelay();
noNatak();
right();
angle_rotate(90);
////_delay_ms(1000);
buzzer();
right();
angle_rotate(190);
////_delay_ms(1000);
buzzer();
right();
angle_rotate(80);
buzzer();
forward();
//_delay_ms(5000);
}
void correct()
{
unsigned int i = 0;
Degrees = 5;
for (; i < 3; i++)
{
left(); //Left wheel backward, Right wheel forward
lcd_print(2, 7, 777, 3);
angle_rotate(Degrees);
stop();
set_color();
if (Center_white_line>40)
return;
}
//normal
right();
while (Center_white_line < 40)
{
// lcd_print(2,1,7,1);
set_color();
}
return;
}
void right_degrees(unsigned int Degrees)
{
// 28 pulses for 360 degrees rotation 12.92 degrees per count
right(); //Turn right
angle_rotate(Degrees);
}
void left_degrees(unsigned int Degrees)
{
// 28 pulses for 360 degrees rotation 12.92 degrees per count
left(); //Turn left
angle_rotate(Degrees);
}
void right_degrees(unsigned int Degrees)
{
// 88 pulses for 360 degrees rotation 4.090 degrees per count
motion_set(0x0A); //Turn right
angle_rotate(Degrees);
}
void nodeLeft()
{
turnDelay();
left();
angle_rotate(100);
}
void nodeRight()
{
turnDelay();
right();
angle_rotate(90);
}
