/*******************************************************************
* Function: void checkIR(void)
* Input Variables: none
* Output Return: none
* Overview: This function update all of the infrared range
* finding sensor values sequentially
********************************************************************/
void checkIR( void )
{
// Update all IR values
ftIR = getFrontIR();
bkIR = getBackIR();
ltIR = getLeftIR();
rtIR = getRightIR();
}
void getIR()
{
ft = getFrontIR();
bk = getBackIR();
rt = getRightIR();
lt = getLeftIR();
frontRight = ATTINY_get_IR_state(ATTINY_IR_RIGHT);
frontLeft = ATTINY_get_IR_state(ATTINY_IR_LEFT);
}
/*******************************************************************
* Function: void moveCollide(void)
* Input Variables: none
* Output Return: none
* Overview: Use a comment block like this before functions
********************************************************************/
void moveCollide( void )
{
ftIR = getFrontIR();
// Check front IR sensor
if(ftIR > IR_THRESHOLD)
{
// Move forward.
STEPPER_move_stnb( STEPPER_BOTH,
STEPPER_FWD, 200, 200, 450, STEPPER_BRK_OFF, // Left
STEPPER_FWD, 200, 200, 450, STEPPER_BRK_OFF ); // Right
}
else
{
//STOP.
STEPPER_move_stnb( STEPPER_BOTH,
STEPPER_FWD, 0, 0, 0, STEPPER_BRK_OFF, // Left
STEPPER_FWD, 0, 0, 0, STEPPER_BRK_OFF ); // Right
}
}
