roomba broom broom

roomba/roomba.ino

@@ -0,0 +1,59 @@
+#include "MeMCore.h"
+
+MeDCMotor leftMotor(9);
+MeDCMotor rightMotor(10);
+MeUltrasonicSensor ultraSensor(PORT_3);
+
+uint8_t motorSpeed = 100;
+
+float dist;
+
+void setup() {
+
+  Serial.begin(9600);
+  Serial.println("Initializing... \n");
+  leftMotor.run(0);
+  rightMotor.run(0);
+  
+}
+
+void loop() {
+
+  dist = ultraSensor.distanceCm();
+  Serial.println(dist);
+
+  if (dist > 10){
+    goForward();
+  }
+  else if (ultraSensor.distanceCm() < 10){
+    
+    goBackward();
+    delay(1000);
+    goLeft();
+    delay(1000);
+  }
+}
+
+void goForward(){
+
+  leftMotor.run(-motorSpeed);
+  rightMotor.run(motorSpeed);
+  delay(1000);  
+
+}
+
+void goBackward(){
+
+  leftMotor.run(motorSpeed);
+  rightMotor.run(-motorSpeed);
+  delay(100);  
+
+}
+
+void goLeft(){
+
+  leftMotor.run(motorSpeed);
+  rightMotor.run(motorSpeed);
+  delay(100);
+
+}

ultrasonicSensor/ultrasonicSensor.ino

@@ -1,7 +1,6 @@
 #include "MeMCore.h"
 
 MeUltrasonicSensor ultraSensor(PORT_3);
-float dist;
 
 void setup()
 {