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);
}
Esempio n. 2
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//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);
}