along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
-#include "bot_map.h"
+#include "bot_with_leds_map.h"
void on(int pin){
digitalWrite(pin, HIGH);}
speed = 255;}
analogWrite(speed_pin, speed);}
-void go(int left_motor_speed, int right_motor_speed){
+void go(const int left_motor_speed, const int right_motor_speed){
set_motor(left_motor_speed_pin,
left_motor_forward_pin,
left_motor_backward_pin,
int desired_right_ping_time = 800;
int desired_left_ping_time = 800;
- unsigned int actual_left_ping_time = ping(left_trigger_pin, left_echo_pin);
- unsigned int actual_right_ping_time = ping(right_trigger_pin, right_echo_pin);
+ unsigned int left_ping_time = ping(left_trigger_pin, left_echo_pin);
+ unsigned int right_ping_time = ping(right_trigger_pin, right_echo_pin);
- left_speed = actual_left_ping_time - desired_left_ping_time;
- right_speed = actual_right_ping_time - desired_right_ping_time;
+ left_speed = left_ping_time - desired_left_ping_time;
+ right_speed = right_ping_time - desired_right_ping_time;
Serial.print(", left: ping = ");
- Serial.print(actual_left_ping_time);
+ Serial.print(left_ping_time);
Serial.print(" speed = ");
Serial.print(left_speed);
Serial.print(" right: ping = ");
- Serial.print(actual_right_ping_time);
+ Serial.print(right_ping_time);
Serial.print(" speed = ");
Serial.print(right_speed);
prior_button_state = button_state;
Serial.println(); }
-
-void loop_asdf() {
- go(250, 250);
-}