*/
// define which pins are connected to which components
-int right_motor_speed_pin = 3; // orange wire
-int right_motor_forward_pin = 4; // brown
-int right_motor_backward_pin = 5; // purple
+int right_motor_forward_pin = 3;
+int right_motor_backward_pin = 4;
+int right_motor_speed_pin = 5;
-int right_echo_pin = 6; // white
-int right_trigger_pin = 7; // blue
+int right_echo_pin = 6;
+int right_trigger_pin = 7;
-int left_motor_speed_pin = 8; // orange
-int left_motor_forward_pin = 9; // brown
-int left_motor_backward_pin = 10; // purple
+int left_motor_forward_pin = 8;
+int left_motor_backward_pin = 9;
+int left_motor_speed_pin = 10;
-int left_echo_pin = 11; // white
-int left_trigger_pin = 12; // blue
+int left_echo_pin = 11;
+int left_trigger_pin = 12;
void on(int pin){
digitalWrite(pin, HIGH);}
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 = 400;
- int left_max_ping_time_over_table = 400;
+ // 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