*/
// define which pins are connected to which components
-int right_motor_speed_pin = 3;
-int right_motor_forward_pin = 4;
-int right_motor_backward_pin = 5;
-
+// blue wire
+int right_motor_forward_pin = 3;
+// orange wire
+int right_motor_backward_pin = 4;
+// white wire
+int right_motor_speed_pin = 5;
+
+// yellow wire
int right_echo_pin = 6;
+// blue wire
int right_trigger_pin = 7;
+// blue wire
int left_motor_forward_pin = 8;
+// orange wire
int left_motor_backward_pin = 9;
+// white wire
int left_motor_speed_pin = 10;
+// yellow wire
int left_echo_pin = 11;
+// blue wire
int left_trigger_pin = 12;
void on(int pin){
else{ // speed is 0
off(forward_pin);
off(backward_pin);}
+ // since speed has been set positive, no need to check if speed < -255.
if(speed > 255){
speed = 255;}
analogWrite(speed_pin, speed);}
// adjust this number as necessary for your robot.
// it represents how far the table is from your sonar sensor.
- // larger values mean larger distance. default is 400
- int right_max_ping_time_over_table = 500;
- int left_max_ping_time_over_table = 500;
+ // larger values mean larger distance. default is 800
+ int right_max_ping_time_over_table = 800;
+ int left_max_ping_time_over_table = 800;
int backup_time = 2000;
// the exact amount of time for turning around might need
// twerking for your robot. the default value is 3200
- int turn_around_time = 2133;
+ int turn_around_time = 3200;
int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin);
int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin);