void correctForwardMotion() {
//Get an initial value
SensorPair left = getLeftSensorValues();
SensorPair right = getRightSensorValues();
left = calibratedValuesLeft(left);
right = calibratedValuesRight(right);
/**
* Compare the two sets of values, and decide
* whether an adjustment left or right is needed
*
* Now measured in cm meaning that larger value is, as per normal, further away
*/
if (sensorSide == 1) {
if (left.FrontSensor < 100) { //if i can see a wall then follow it
wallFollow(left);
cmdDoPlay("<c");
}
}
else if (sensorSide == 2) {
if (right.FrontSensor < 100) {
wallFollow(right);
cmdDoPlay("<d");
}
}
}
void CBOT_main(void)
{
STEPPER_open(); // Enables control of the steppers
ATTINY_open(); // Enables reading of the buttons
SPKR_open(SPKR_BEEP_MODE); //enables beeping
LCD_open(); // Enables use of the LCD
ADC_open();//open the ADC module
while(1)
{
if(ATTINY_get_SW_state(ATTINY_SW3))
{
smartGoToGoal(4,4);
}
if(ATTINY_get_SW_state(ATTINY_SW4))
{
wander('a');
}
if (ATTINY_get_SW_state(ATTINY_SW5))
{
char wall = 'l';
while(wall=='l'){
wall = wallFollow('l',4,5,10);
}
}
//TODO:: Please write your application code
}
}
