void create_forward(int dist, int speed)
{
create_write_byte(145);
create_write_int(speed);
create_write_int(speed);
create_wait_dist(dist);
}
void create_backward(int dist, int speed)
{
create_write_byte(145);
create_write_int(-speed);
create_write_int(-speed);
create_wait_dist(-dist);
}
void create_turn_right(int angle, int radius, int speed)
{
create_write_byte(137);
create_write_int(speed);
create_write_int(-radius);
create_wait_angle(-angle);
}
void create_turn_left(int angle, int radius, int speed)
{
create_write_byte(137);
create_write_int(speed);
create_write_int(radius);
create_wait_angle(angle);
}
void create_drive_direct_dist(int r_speed, int l_speed, int dist)
{
create_write_byte(145);
create_write_int(r_speed);
create_write_int(l_speed);
create_wait_dist(dist);
}
void create_drive_direct_right(int r_speed, int l_speed, int angle)
{
create_write_byte(145);
create_write_int(r_speed);
create_write_int(l_speed);
create_wait_angle(-angle);
}
void create_backward_fast(int dist,int speed)
{
create_write_byte(145);
create_write_int(-speed*lSpeedMult/100);
create_write_int(-speed*rSpeedMult/100);
create_wait_dist(-dist);
}
void create_left(int angle, int radius, int speed)
{
create_write_byte(137);
create_write_int(speed);
if (radius == 0){
create_write_int(1);
}else{
create_write_int(radius);
}
create_wait_angle(angle);
}
void create_right(int angle, int radius, int speed)
{
create_write_byte(137);
create_write_int(speed);
if (radius == 0){
create_write_int(-1);
}else{
create_write_int(-radius);
}
create_wait_angle(-angle);
}
void create_wait_angle(int angle)//degrees, negative = right
{
create_write_byte(157);
create_write_int(angle);
}
void create_wait_dist(int dist)//dist is in mm
{
create_write_byte(156);
create_write_int(dist);
}
