bool are_constraints_satisfied(Direction origin,Direction destination) { if((isTurningRight(origin,destination) && va_destination!=destination ) || (va_destination==origin && va_origin==destination) || va_origin==origin ) { return true; } return false; }
void RobotController::turnRight() { if (isTurningRight()) { return; } if(!isStopped()) { stop(); } leftMotor.setSpeed(motor_maxSpeed); rightMotor.setSpeed(motor_maxSpeed); leftMotor.run(FORWARD); rightMotor.run(BACKWARD); movement = TURNING_RIGHT; }