void soft_right_2_degrees(unsigned int Degrees)
{
// 176 pulses for 360 degrees rotation 2.045 degrees per count
soft_right_2(); //Turn reverse soft right
Degrees=Degrees*2;
angle_rotate(Degrees);
}
//Main Function
int main()
{
init_devices();
velocity (100, 100); //Set robot velocity here. Smaller the value lesser will be the velocity
//Try different valuse between 0 to 255
while(1)
{
forward(); //both wheels forward
_delay_ms(1000);
stop();
_delay_ms(500);
back(); //both wheels backward
_delay_ms(1000);
stop();
_delay_ms(500);
left(); //Left wheel backward, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
right(); //Left wheel forward, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left(); //Left wheel stationary, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right(); //Left wheel forward, Right wheel is stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left_2(); //Left wheel backward, right wheel stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right_2(); //Left wheel stationary, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
//Main Function
int main()
{
init_devices();
while(1)
{
forward(); //both wheels forward
_delay_ms(1000);
stop();
_delay_ms(500);
back(); //bpth wheels backward
_delay_ms(1000);
stop();
_delay_ms(500);
left(); //Left wheel backward, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
right(); //Left wheel forward, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left(); //Left wheel stationary, Right wheel forward
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right(); //Left wheel forward, Right wheel is stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_left_2(); //Left wheel backward, right wheel stationary
_delay_ms(1000);
stop();
_delay_ms(500);
soft_right_2(); //Left wheel stationary, Right wheel backward
_delay_ms(1000);
stop();
_delay_ms(1000);
}
}
