From 072de8735015fa071b79e62b77ec9924215bef07 Mon Sep 17 00:00:00 2001
From: Gabri6 <starling1220@gmail.com>
Date: Mon, 24 Apr 2023 12:07:05 +0200
Subject: [PATCH] created a roomba behavior

---
 roomba/roomba.ino | 47 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 roomba/roomba.ino

diff --git a/roomba/roomba.ino b/roomba/roomba.ino
new file mode 100644
index 0000000..002d9ef
--- /dev/null
+++ b/roomba/roomba.ino
@@ -0,0 +1,47 @@
+#include <MeMCore.h>
+
+
+MeUltrasonicSensor sensor(3);
+
+MeDCMotor leftRotor(9);
+MeDCMotor rightRotor(10);
+
+float distance;
+
+float lSpeed;
+float rSpeed;
+float duration;
+int Side;
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+  leftRotor.run(0);
+  rightRotor.run(0);
+  lSpeed = -200.0;
+  rSpeed = 200.0;
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  distance = sensor.distanceCm();
+  duration = random(1000);
+  if (distance>15.0){
+    leftRotor.run(lSpeed);
+    rightRotor.run(rSpeed);
+  }
+  else{
+    Side = random(2);
+    if (Side == 0){
+      leftRotor.run(lSpeed);
+      rightRotor.run(-rSpeed);
+    }
+    if (Side == 1){
+      leftRotor.run(-lSpeed);
+      rightRotor.run(rSpeed);
+    }
+    delay(duration);
+  }
+  
+
+}
\ No newline at end of file