2026-02-02 20:46:13 +00:00
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#include <WiFi.h>
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#include <ArduinoOTA.h>
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const char* ssid = "CIA";
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const char* password = "hi123456";
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#define motorAttach ledcAttach // Get more appropriate names
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#define motorSpeed ledcWrite // same "
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// Motor FR (Front Right)
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#define FR_IN1 27
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#define FR_IN2 14
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#define FR_PWM 0
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// Motor FL (Front Left)
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#define FL_IN1 12
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#define FL_IN2 13
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#define FL_PWM 2
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// Motor BR (Back Right)
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#define BR_IN1 33
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#define BR_IN2 32
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#define BR_PWM 23
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// Motor BL (Back Left)
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#define BL_IN1 26
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#define BL_IN2 25
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#define BL_PWM 22
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// PWM settings
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#define PWM_FREQ 1000
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#define PWM_RESOLUTION 8 // 0-255
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#define SERIAL_RX 21
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// Sensor data received from micro sensors
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int sens_FL = -1;
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int sens_FR = -1;
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int sens_BL = -1;
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int sens_BR = -1;
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int sens_LF = -1;
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int sens_LB = -1;
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int sens_RF = -1;
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int sens_RB = -1;
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// Trim values to calibrate wheel speeds
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int trimFL = 0;
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int trimFR = 0;
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int trimBL = 0;
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int trimBR = 0;
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#define BUFFER_SIZE 7
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int buffer_FL[BUFFER_SIZE];
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int buffer_FR[BUFFER_SIZE];
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int buffer_BL[BUFFER_SIZE];
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int buffer_BR[BUFFER_SIZE];
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int buffer_LF[BUFFER_SIZE];
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int buffer_LB[BUFFER_SIZE];
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int buffer_RF[BUFFER_SIZE];
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int buffer_RB[BUFFER_SIZE];
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int bufferIndex = 0;
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bool bufferFilled = false;
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bool ph1 = false; // Phase 1 complete flag
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bool ph2 = false; //phase 2 complete flag
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bool ph3 = false; //phase 3 complete flag
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bool p2_stop = false; // Flag when its passed the top of the hill
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// Telnet server to watch serial
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WiFiServer telnetServer(23);
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WiFiClient telnetClient;
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// Function declaritons
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void otaTask(void *parameter); // Get micro ready for OTA
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void logPrint(const char* msg); // Print function for serial and telnet, strings
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void logPrint(int val); // Print function for serial and telnet, integers
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void logPrint(float val); // Print function for serial and telnet, floats
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void logPrintln(const char* msg); // Print line function for serial and telnet
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void logPrintln(int val); // Print line function for serial and telnet, integers
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void logPrintln(float val); // Print line function for serial and telnet, floats
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void telnetTask(void *parameter); // Configure telnet serial
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void motorFR(int speed); // Front right motor, speed from -255 to 255, positive goes forward, negative goes backward
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void motorFL(int speed); // Front left motor, speed from -255 to 255, positive goes forward, negative goes backward
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void motorBR(int speed); // Back right motor, speed from -255 to 255, positive goes forward, negative goes backward
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void motorBL(int speed); // Back left motor, speed from -255 to 255, positive goes forward, negative goes backward
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void motorsStop(); // Stop all motors
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void motorsGo(int speed); // All motors move the same speed, from -255 to 255, positive goes forward, negative goes backward
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void Go45right();
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void Go45left();
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void Go90right();
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void Go90left();
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void slideRight();
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void slideLeft();
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void receiveSensorData(); // Receive the sensors data from micro sensors
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int rollingAverage(int buffer[]); // rollingAverage function call
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void sensorsTest();
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void motorsTest();
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void phaseThree();
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void setup() {
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Serial.begin(115200);
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// Configure WIFI
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WiFi.mode(WIFI_STA);
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WiFi.begin(ssid, password);
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int wifiAttempts = 0;
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while (WiFi.waitForConnectResult() != WL_CONNECTED && wifiAttempts < 10) {
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Serial.println("WiFi connecting...");
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wifiAttempts++;
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delay(500);
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}
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if (WiFi.status() == WL_CONNECTED) {
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Serial.print("IP Address: ");
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Serial.println(WiFi.localIP());
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} else {
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Serial.println("WiFi not available - running without network");
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}
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if (WiFi.status() == WL_CONNECTED) {
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ArduinoOTA.setHostname("Motors");
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ArduinoOTA.onStart([]() {
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Serial.println("OTA Update starting...");
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});
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ArduinoOTA.onEnd([]() {
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Serial.println("\nOTA Update complete!");
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});
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ArduinoOTA.onError([](ota_error_t error) {
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Serial.printf("OTA Error [%u]\n", error);
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});
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ArduinoOTA.begin();
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telnetServer.begin();
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}
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Serial2.begin(115200, SERIAL_8N1, SERIAL_RX, -1);
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// Motor direction pins
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pinMode(FR_IN1, OUTPUT);
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pinMode(FR_IN2, OUTPUT);
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pinMode(FL_IN1, OUTPUT);
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pinMode(FL_IN2, OUTPUT);
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pinMode(BR_IN1, OUTPUT);
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pinMode(BR_IN2, OUTPUT);
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pinMode(BL_IN1, OUTPUT);
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pinMode(BL_IN2, OUTPUT);
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// PWM setup for ESP32
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motorAttach(FR_PWM, PWM_FREQ, PWM_RESOLUTION);
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motorAttach(FL_PWM, PWM_FREQ, PWM_RESOLUTION);
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motorAttach(BR_PWM, PWM_FREQ, PWM_RESOLUTION);
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motorAttach(BL_PWM, PWM_FREQ, PWM_RESOLUTION);
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// Start with motors stopped
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digitalWrite(FR_IN1, LOW);
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digitalWrite(FR_IN2, LOW);
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digitalWrite(FL_IN1, LOW);
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digitalWrite(FL_IN2, LOW);
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motorSpeed(FR_PWM, 0);
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motorSpeed(FL_PWM, 0);
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digitalWrite(BR_IN1, LOW);
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digitalWrite(BR_IN2, LOW);
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digitalWrite(BL_IN1, LOW);
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digitalWrite(BL_IN2, LOW);
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motorSpeed(BR_PWM, 0);
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motorSpeed(BL_PWM, 0);
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// FreeRTOS tasks
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if (WiFi.status() == WL_CONNECTED) {
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xTaskCreate(otaTask, "OTA", 4096, NULL, 1, NULL);
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xTaskCreate(telnetTask, "Telnet", 4096, NULL, 1, NULL);
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}
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}
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void loop() {
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// ph1 = true;
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// ph2 = true;
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// ph3 = true;
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if (!ph1) {
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phaseOne();
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ph1 = true;
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}
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if (!ph2) {
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phaseTwo();
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ph2 = true;
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}
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if (!ph3) {
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phaseThree();
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ph3 = true;
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}
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// motorsTest();
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sensorsTest();
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}
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void phaseOne() {
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// Wait for valid sensor readings
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while (sens_FL < 0 || sens_FR < 0) {
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receiveSensorData(); // read sensors
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delay(10);
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}
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int distance;
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int speed;
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receiveSensorData();
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while ((distance = (sens_FL + sens_FR) / 2) > 240) {
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// Slow down as we approach target
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if (distance > 500) {
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speed = 180;
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} else if (distance > 350) {
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speed = 80;
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} else {
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speed = 40; // Slow down even more
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}
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motorsGo(speed);
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delay(5); // Wait for new sensor data to arrive
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receiveSensorData(); // Get fresh reading each iteration
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}
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motorsStop();
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logPrint("Stopped at: "); logPrintln((sens_FL + sens_FR) / 2);
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delay(1000);
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Go90right();
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delay(2000);
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motorsGo(80);
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delay(1250); // Go into the pit 1800 miliseconds,
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motorsStop();
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delay(3000); //how long to pick balls? dunno
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motorsGo(-150);
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delay(1200); // Go out of the pit 1800 miliseconds
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motorsStop();
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delay(500);
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slideLeft();
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delay(1450);
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motorsStop();
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delay(2000);
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}
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void phaseTwo() {
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// Wait for valid sensor readings - ENABLE IF YOU ARE TESTING ONLY THIS PHASE
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// while (sens_FL < 0 || sens_FR < 0) {
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// receiveSensorData(); // read sensors
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// delay(10);
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// }
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receiveSensorData();
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while (!p2_stop) {
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while ((sens_FL + sens_FR) / 2 > 8000) {
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motorsGo(-255);
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delay(5); // Wait for new sensor data to arrive
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receiveSensorData(); // Get fresh reading each iteration
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}
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while ((sens_FL + sens_FR) / 2 < 680) { // Used to be 680
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motorsGo(-180);
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delay(5); // Wait for new sensor data to arrive
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receiveSensorData(); // Get fresh reading each iteration
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}
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while ((sens_FL + sens_FR) / 2 > 320) {
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motorsGo(-120);
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delay(5); // Wait for new sensor data to arrive
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receiveSensorData(); // Get fresh reading each iteration
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}
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p2_stop = true;
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receiveSensorData();
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}
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motorsStop();
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}
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void phaseThree() {
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}
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void otaTask(void *parameter) {
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for (;;) {
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ArduinoOTA.handle();
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vTaskDelay(10 / portTICK_PERIOD_MS);
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}
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}
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void telnetTask(void *parameter) {
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for (;;) {
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if (telnetServer.hasClient()) {
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if (telnetClient && telnetClient.connected()) {
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telnetClient.stop();
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}
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telnetClient = telnetServer.available();
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telnetClient.println("Connected to Motors");
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}
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vTaskDelay(100 / portTICK_PERIOD_MS);
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}
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}
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void logPrint(const char* msg) {
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Serial.print(msg);
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if (telnetClient && telnetClient.connected()) {
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telnetClient.print(msg);
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}
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}
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void logPrint(int val) {
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Serial.print(val);
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if (telnetClient && telnetClient.connected()) {
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telnetClient.print(val);
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}
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}
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void logPrint(float val) {
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Serial.print(val);
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if (telnetClient && telnetClient.connected()) {
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telnetClient.print(val);
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}
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}
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void logPrintln(const char* msg) {
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Serial.println(msg);
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if (telnetClient && telnetClient.connected()) {
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telnetClient.println(msg);
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}
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}
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void logPrintln(int val) {
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Serial.println(val);
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if (telnetClient && telnetClient.connected()) {
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telnetClient.println(val);
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}
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}
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void logPrintln(float val) {
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Serial.println(val);
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if (telnetClient && telnetClient.connected()) {
|
|
|
|
|
telnetClient.println(val);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void motorFR(int speed) {
|
|
|
|
|
if (speed > 0) {
|
|
|
|
|
digitalWrite(FR_IN1, HIGH);
|
|
|
|
|
digitalWrite(FR_IN2, LOW);
|
|
|
|
|
motorSpeed(FR_PWM, constrain(speed + trimFR, 0, 255));
|
|
|
|
|
} else if (speed < 0) {
|
|
|
|
|
digitalWrite(FR_IN1, LOW);
|
|
|
|
|
digitalWrite(FR_IN2, HIGH);
|
|
|
|
|
motorSpeed(FR_PWM, constrain(-speed + trimFR, 0, 255));
|
|
|
|
|
} else {
|
|
|
|
|
digitalWrite(FR_IN1, LOW);
|
|
|
|
|
digitalWrite(FR_IN2, LOW);
|
|
|
|
|
motorSpeed(FR_PWM, 0);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void motorFL(int speed) {
|
|
|
|
|
if (speed > 0) {
|
|
|
|
|
digitalWrite(FL_IN1, HIGH);
|
|
|
|
|
digitalWrite(FL_IN2, LOW);
|
|
|
|
|
motorSpeed(FL_PWM, constrain(speed + trimFL, 0, 255));
|
|
|
|
|
} else if (speed < 0) {
|
|
|
|
|
digitalWrite(FL_IN1, LOW);
|
|
|
|
|
digitalWrite(FL_IN2, HIGH);
|
|
|
|
|
motorSpeed(FL_PWM, constrain(-speed + trimFL, 0, 255));
|
|
|
|
|
} else {
|
|
|
|
|
digitalWrite(FL_IN1, LOW);
|
|
|
|
|
digitalWrite(FL_IN2, LOW);
|
|
|
|
|
motorSpeed(FL_PWM, 0);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void motorBR(int speed) {
|
|
|
|
|
if (speed > 0) {
|
|
|
|
|
digitalWrite(BR_IN1, HIGH);
|
|
|
|
|
digitalWrite(BR_IN2, LOW);
|
|
|
|
|
motorSpeed(BR_PWM, constrain(speed + trimBR, 0, 255));
|
|
|
|
|
} else if (speed < 0) {
|
|
|
|
|
digitalWrite(BR_IN1, LOW);
|
|
|
|
|
digitalWrite(BR_IN2, HIGH);
|
|
|
|
|
motorSpeed(BR_PWM, constrain(-speed + trimBR, 0, 255));
|
|
|
|
|
} else {
|
|
|
|
|
digitalWrite(BR_IN1, LOW);
|
|
|
|
|
digitalWrite(BR_IN2, LOW);
|
|
|
|
|
motorSpeed(BR_PWM, 0);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void motorBL(int speed) {
|
|
|
|
|
if (speed > 0) {
|
|
|
|
|
digitalWrite(BL_IN1, HIGH);
|
|
|
|
|
digitalWrite(BL_IN2, LOW);
|
|
|
|
|
motorSpeed(BL_PWM, constrain(speed + trimBL, 0, 255));
|
|
|
|
|
} else if (speed < 0) {
|
|
|
|
|
digitalWrite(BL_IN1, LOW);
|
|
|
|
|
digitalWrite(BL_IN2, HIGH);
|
|
|
|
|
motorSpeed(BL_PWM, constrain(-speed + trimBL, 0, 255));
|
|
|
|
|
} else {
|
|
|
|
|
digitalWrite(BL_IN1, LOW);
|
|
|
|
|
digitalWrite(BL_IN2, LOW);
|
|
|
|
|
motorSpeed(BL_PWM, 0);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void motorsStop() {
|
|
|
|
|
motorFR(0);
|
|
|
|
|
motorFL(0);
|
|
|
|
|
motorBR(0);
|
|
|
|
|
motorBL(0);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int rollingAverage(int buffer[]) {
|
|
|
|
|
int sum = 0;
|
|
|
|
|
int count = bufferFilled ? BUFFER_SIZE : (bufferIndex + 1);
|
|
|
|
|
|
|
|
|
|
for (int i = 0; i < count; i++) {
|
|
|
|
|
sum += buffer[i];
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
return sum / count;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void receiveSensorData() {
|
|
|
|
|
String data;
|
|
|
|
|
|
|
|
|
|
// Drain buffer - keep only the latest complete line
|
|
|
|
|
while (Serial2.available()) {
|
|
|
|
|
data = Serial2.readStringUntil('\n');
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (data.length() == 0) return;
|
|
|
|
|
|
|
|
|
|
int values[8];
|
|
|
|
|
int idx = 0;
|
|
|
|
|
int start = 0;
|
|
|
|
|
|
|
|
|
|
for (int i = 0; i <= data.length() && idx < 8; i++) {
|
|
|
|
|
if (i == data.length() || data[i] == ',') {
|
|
|
|
|
values[idx++] = data.substring(start, i).toInt();
|
|
|
|
|
start = i + 1;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (idx == 8) {
|
|
|
|
|
sens_FL = values[0];
|
|
|
|
|
sens_FR = values[1];
|
|
|
|
|
sens_BL = values[2];
|
|
|
|
|
sens_BR = values[3];
|
|
|
|
|
sens_LF = values[4];
|
|
|
|
|
sens_LB = values[5];
|
|
|
|
|
sens_RF = values[6];
|
|
|
|
|
sens_RB = values[7];
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void sensorsTest() {
|
|
|
|
|
|
|
|
|
|
receiveSensorData();
|
|
|
|
|
|
|
|
|
|
logPrint("FL:"); logPrint(sens_FL);
|
|
|
|
|
logPrint(" FR:"); logPrint(sens_FR);
|
|
|
|
|
logPrint(" BL:"); logPrint(sens_BL);
|
|
|
|
|
logPrint(" BR:"); logPrint(sens_BR);
|
|
|
|
|
logPrint(" LF:"); logPrint(sens_LF);
|
|
|
|
|
logPrint(" LB:"); logPrint(sens_LB);
|
|
|
|
|
logPrint(" RF:"); logPrint(sens_RF);
|
|
|
|
|
logPrint(" RB:"); logPrintln(sens_RB);
|
|
|
|
|
|
|
|
|
|
delay(100);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void motorsTest() {
|
|
|
|
|
|
|
|
|
|
logPrintln("Right forward...");
|
|
|
|
|
motorBR(80);
|
|
|
|
|
motorFR(80);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Right stop...");
|
|
|
|
|
motorBR(0);
|
|
|
|
|
motorFR(0);
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Right forward...");
|
|
|
|
|
motorBR(250);
|
|
|
|
|
motorFR(250);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Right stop...");
|
|
|
|
|
motorBR(0);
|
|
|
|
|
motorFR(0);
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Left forward...");
|
|
|
|
|
motorBL(80);
|
|
|
|
|
motorFL(80);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Left stop...");
|
|
|
|
|
motorsStop();
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Left forward...");
|
|
|
|
|
motorBL(250);
|
|
|
|
|
motorFL(250);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Left stop...");
|
|
|
|
|
motorsStop();
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Front forward...");
|
|
|
|
|
motorFR(80);
|
|
|
|
|
motorFL(80);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Front stop...");
|
|
|
|
|
motorsStop();
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Front forward...");
|
|
|
|
|
motorFR(250);
|
|
|
|
|
motorFL(250);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Front stop...");
|
|
|
|
|
motorsStop();
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Back forward...");
|
|
|
|
|
motorBR(80);
|
|
|
|
|
motorBL(80);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Back stop...");
|
|
|
|
|
motorsStop();
|
|
|
|
|
delay(1000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Back forward...");
|
|
|
|
|
motorBR(250);
|
|
|
|
|
motorBL(250);
|
|
|
|
|
delay(2000);
|
|
|
|
|
|
|
|
|
|
logPrintln("Back stop...");
|
|
|
|
|
motorsStop();
|
|
|
|
|
delay(1000);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void motorsGo(int speed) {
|
|
|
|
|
motorFR(speed);
|
|
|
|
|
motorFL(speed);
|
|
|
|
|
motorBR(speed);
|
|
|
|
|
motorBL(speed);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Go45right() {
|
|
|
|
|
motorFL(150);
|
|
|
|
|
motorFR(-150);
|
|
|
|
|
motorBL(150);
|
|
|
|
|
motorBR(-150);
|
|
|
|
|
delay(875);
|
|
|
|
|
motorsStop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Go45left() {
|
|
|
|
|
motorFL(-150);
|
|
|
|
|
motorFR(150);
|
|
|
|
|
motorBL(-150);
|
|
|
|
|
motorBR(150);
|
|
|
|
|
delay(875);
|
|
|
|
|
motorsStop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Go90right() {
|
|
|
|
|
motorFL(150);
|
|
|
|
|
motorFR(-150);
|
|
|
|
|
motorBL(150);
|
|
|
|
|
motorBR(-150);
|
|
|
|
|
delay(1250);
|
|
|
|
|
motorsStop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Go90left() {
|
|
|
|
|
motorFL(-150);
|
|
|
|
|
motorFR(150);
|
|
|
|
|
motorBL(-150);
|
|
|
|
|
motorBR(150);
|
|
|
|
|
delay(1250);
|
|
|
|
|
motorsStop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void slideRight() {
|
|
|
|
|
motorFL(-150);
|
|
|
|
|
motorFR(150);
|
|
|
|
|
motorBL(150);
|
|
|
|
|
motorBR(-150);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void slideLeft() {
|
|
|
|
|
motorFL(150);
|
|
|
|
|
motorFR(-150);
|
|
|
|
|
motorBL(-150);
|
|
|
|
|
motorBR(150);
|
|
|
|
|
}
|
