#include "Arduino.h"
#include "Wire.h"
#include "MeMCore.h"
#include "SoftwareSerial.h"
#include <Wire.h>

MeDCMotor rightMotor(10);

MeDCMotor leftMotor(9);

MeGyro gyro;

boolean x = true;
float Zzero = 0;

void setup() {
  Serial.begin(9600);
  rightMotor.run(0);
  leftMotor.run(0);
  
  gyro.begin();

}

void loop() {
  
  gyro.update();

  delay(3000);
 
  
  int squareCoordonates[4][2]={{0,0},{25,0},{25,25},{0,25}};
  
  for (int i=0; i<4; i++){

    x = true;

    while(x==true){
      leftMotor.run(100);
      rightMotor.run(-100);
      delay(2150);
      x=false;
    }
    float targetAngle = 90;
    float Zzero=gyro.getAngleZ();
    float changingangle=gyro.getAngleZ();
    while (abs(Zzero-changingangle)< targetAngle){
      Serial.print(gyro.getAngleZ());
      leftMotor.run(100);
      rightMotor.run(100);
      gyro.update();
      changingangle=gyro.getAngleZ();
      
    }
    
  }

  

}