From d7defd4168661a076e68424cc866f0e40b5d84d1 Mon Sep 17 00:00:00 2001
From: Julian <julian.leclerc@ecam.fr>
Date: Fri, 1 Apr 2022 10:22:58 +0200
Subject: [PATCH] roomba

---
 roomba/roomba.ino | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 roomba/roomba.ino

diff --git a/roomba/roomba.ino b/roomba/roomba.ino
new file mode 100644
index 0000000..79919cb
--- /dev/null
+++ b/roomba/roomba.ino
@@ -0,0 +1,31 @@
+//#include "MeOrion.h"
+#include <MeMCore.h>
+
+MeDCMotor motor3(M1);
+MeDCMotor motor4(M2);
+
+uint8_t motorSpeed = 200;
+MeUltrasonicSensor ultraSensor(PORT_3);
+
+void setup()
+{
+  Serial.begin(9600);
+}
+
+void loop()
+{
+  
+  if(ultraSensor.distanceCm()>20) {
+    motor3.run(-motorSpeed);
+    motor4.run(motorSpeed);
+  }else if((ultraSensor.distanceCm()<15)) {
+  motor3.stop();
+  motor4.stop();
+  motor3.run(motorSpeed);
+  motor4.run(-motorSpeed);
+  } else {
+    motor3.run(motorSpeed);
+    motor4.run(motorSpeed);
+  }
+  delay(100);
+}