void RobotMovement(unsigned char direction)
{
switch (direction) {
case LEFT:
Stop();
moveLeftMotorBackward();
moveRightMotorForward();
_delay_cycles(50000);
break;
case RIGHT:
Stop();
moveLeftMotorForward();
moveRightMotorBackward();
_delay_cycles(50000);
break;
case SHARPRIGHT:
Stop();
moveLeftMotorForward();
moveRightMotorBackward();
_delay_cycles(400000);
break;
case REVERSE:
Stop();
moveLeftMotorBackward();
moveRightMotorBackward();
_delay_cycles(75000);
break;
case FORWARD:
Stop();
moveLeftMotorForward();
moveRightMotorForward();
_delay_cycles(150000);
break;
}
}
void RobotMovement(unsigned char direction)
{
switch (direction) {
case LEFT:
moveLeftMotorBackward();
moveRightMotorForward();
break;
case RIGHT:
moveLeftMotorForward();
moveRightMotorBackward();
break;
case REVERSE:
moveLeftMotorBackward();
moveRightMotorBackward();
break;
case FORWARD:
moveLeftMotorForward();
moveRightMotorForward();
break;
}
}
void turnRight()
{
moveRightMotorBackward();
moveLeftMotorForward();
}
void moveForward()
{
moveRightMotorForward();
moveLeftMotorForward();
}
void largeLeftTurn(){
stopLeftMotor();
__delay_cycles(1500000);
moveLeftMotorForward();
}
void smallLeftTurn(){
stopLeftMotor();
__delay_cycles(500000);
moveLeftMotorForward();
}
