merge develop 3

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);
+  }
+  
+
+}