Merge branch 'develop'

roomba/roomba.ino

@@ -1,11 +1,40 @@
 #include <MeMCore.h>
 
+MeDCMotor _rightMotor(10);
+MeDCMotor _leftMotor(9);
+MeUltrasonicSensor mySensor(2);
+
+int valTurn;
+int valTime;
+
 void setup() {
   // put your setup code here, to run once:
-
+  _leftMotor.run(0);
+  _rightMotor.run(0);
+  Serial.begin(9600);
 }
 
 void loop() {
   // put your main code here, to run repeatedly:
-
+  getMoving(150, 1, -1, 500);
+  if (mySensor.distanceCm()< 20){
+    _leftMotor.stop();
+    _rightMotor.stop();
+    valTurn = (int) random(0, 2)*2-1;
+    valTime = (int) random(400, 900);
+    getTurning(150, valTurn, valTime);
+  }
+}
+
+
+void getMoving(int speedMove, int dirRight, int dirLeft, int timeMove){
+  //if direction 1 -1 forward
+  _leftMotor.run(dirLeft*speedMove);
+  _rightMotor.run(dirRight*speedMove);
+  delay(timeMove);
+}
+
+void getTurning(int speedMove, int dir, int timeMove){
+  //if dir = -1, turn right
+  getMoving(speedMove, dir, dir, timeMove);
 }

ultrasonicSensor/ultrasonicSensor.ino

@@ -1,15 +1,13 @@
 #include <MeMCore.h>
 
-MeDCMotor _rightMotor(10);
-MeDCMotor _leftMotor(9);
+MeUltrasonicSensor mySensor(2);
 
 void setup() {
   // put your setup code here, to run once:
-  _leftMotor.run(0);
-  _rightMotor.run(0);
+  Serial.begin(9600);
 }
 
 void loop() {
   // put your main code here, to run repeatedly:
-  
+  Serial.println(mySensor.distanceCm());
 }