void cmdslow(void) // Moves motors forward at half duty
{
motor_left_duty(15);
motor_right_duty(15);
motor_left_forward();
motor_right_forward();
}
void cmdBangBang(void)
{
motor_init();
motor_left_stop();
motor_right_stop();
motor_left_duty(20);
motor_right_duty(40);
motor_left_forward();
motor_right_forward();
while(1)
{
// start turning left
motor_left_duty(20);
motor_right_duty(40);
myStringPut("Bang Left");
myNLPut();
while (line_status() == WHITE) // WHITE
{
}
// Hits Black
// Turns right
motor_left_duty(40);
motor_right_duty(20);
myStringPut("Bang Right");
myNLPut();
while (line_status() == BLACK) // BLACK
{
}
}
}
void cmdforward(void) // Moves motors forward at full duty
{
myStringPut("calling cmdforward");
myNLPut();
motor_left_duty(100);
motor_right_duty(100);
motor_left_forward();
motor_right_forward();
}
void motor_turn_left(){
motor_right_forward();
//servo_disable(PIN_LEFT_SERVO);
SetBit(PORTC,PIN_LEFT_FORWARD);
SetBit(PORTC,PIN_LEFT_BACKWARD);
}
void motor_spin_left(){
motor_right_forward();
motor_left_backward();
}
void motor_forward(){
motor_right_forward();
motor_left_forward();
}