int main(void)
{
setupADC();
setupStepperMotor();
startTimer();
USART_init();
mouse.velocity = 0;
mouse.maxVelocity = 5000;
mouse.acceleration = 2000;
mouse.deceleration = 10000;
enableDrive(1);
turnOnTimers(1,1);
for(int i = 0; i < 10; i++)
{
int right = isWallRight();
int front = isWallFront();
int left = isWallLeft();
if(!right)
{
rotateRight();
}
else if(front && !left)
{
rotateLeft();
}
else if(front)
{
moveBackwardsAndCorrect();
}
if(left && right)
mouse.IR_CORRECT = 20;
moveForwardAndStop();
mouse.IR_CORRECT = 0;
}
turnOnTimers(0, 0);
enableDrive(0);
while(1==1)
{
}
}
//Reset and start all mouse constants and timers
void initializeMouse()
{
setupADC();
setupStepperMotor();
startTimer();
USART_init();
mouse.velocity = 0;
mouse.maxVelocity = 2500;
mouse.acceleration = 3000;
mouse.deceleration = 12000;
enableDrive(1);
turnOnTimers(1,1);
}
