// Drives m1 backward.
void m1_backward()
{
char byte = read_next_byte();
if(check_data_byte(byte))
return;
set_m1_speed(byte == 127 ? -255 : -byte*2);
}
int main() {
serial_set_baud_rate(BAUD);
int distanceRead;
while(1) {
set_m1_speed(255/4);
set_m2_speed(255/4);
MOS2
MOS4
}
return 0;
}
// This function comprises the main part of the motor speed update loop.
// If a button press is detected, both the red and green user LEDs are
// turned off, as are the motor outputs. This function also includes
// a brief delay that ensures the entire loop takes the desired amount
// of time.
unsigned char motorUpdate(unsigned char motor, int speed)
{
unsigned char button;
if (motor == 0) // set the desired motor to the desired speed
set_m1_speed(speed);
else
set_m2_speed(speed);
delay_ms(2); // delay here for 2 milliseconds
// check if top or bottom buttons have been pressed
button = button_is_pressed(TOP_BUTTON | MIDDLE_BUTTON);
if (button != 0) // if so, turn off motors and LEDs, return button ID
{
red_led(0);
green_led(0);
set_motors(0, 0);
}
return button;
}