void forwardDistance(int dist)
{
int speed = 100;
while(getDistanceValue(distance)>dist)//the limit is -85 degrees
{//Turning right
speed = getDistanceValue(distance) - dist;
setMotorSpeed(left, speed );//left motor is going forward
setMotorSpeed(right, speed);//right motor is going backwards
}
setMotorSpeed(left, 0);
setMotorSpeed(right, 0);
wait1Msec(1000);
}
//drive forward using the ultrasonic sensor
void driveWithUltraSonic(int distance, int speed) {
if(distance > 0) {
while(getDistanceValue(DISTANCE_SENSOR) < distance) {
setMotorSpeed(LEFT_DRIVETRAIN_MOTOR, speed);
setMotorSpeed(RIGHT_DRIVETRAIN_MOTOR, -speed);
}
} else {
while(getDistanceValue(DISTANCE_SENSOR) > -distance) {
setMotorSpeed(LEFT_DRIVETRAIN_MOTOR, - speed);
setMotorSpeed(RIGHT_DRIVETRAIN_MOTOR, speed);
}
}
setMotorSpeed(LEFT_DRIVETRAIN_MOTOR, 0);
setMotorSpeed(RIGHT_DRIVETRAIN_MOTOR, 0);
}