roomba goes fast

roomba/roomba.ino

@@ -0,0 +1,90 @@
+#include <MeMCore.h>
+
+
+
+MeDCMotor motorL(M1); //positive go backward
+
+MeDCMotor motorR(M2); //positive go forward
+
+MeUltrasonicSensor ultraSensor(PORT_3);
+
+uint8_t motorSpeed = 255;
+bool turning = false;
+unsigned long turnTimer = 0;
+int ranMin = 200;//in ms
+int ranMax = 2000;
+unsigned long turnTimerDuration = random(ranMin, ranMax);
+bool directionLeft = true;
+int MinDistance = 20;//in cm
+
+/*
+ * if turning, keep turning until turn timer is over and kill turning
+ * if not turning, check sensor and carry on moving forward
+ *  if sensor within threshold, set turn timer random, direction random, set turning
+ * 
+ * 
+ */
+
+void setup()
+{
+  Serial.begin(9600);
+}
+
+void loop()
+{
+  if (turning){
+    //timercheck
+    if(millis()- turnTimer >= turnTimerDuration){
+      //reset timer
+      turning = false;
+      motorL.run(-motorSpeed);
+      motorR.run(motorSpeed);      
+    }else{
+      //keep on turning
+    }
+  }else{
+    //not turning
+    if(ultraSensor.distanceCm() < MinDistance)//sensorcheck
+    {
+      turnTimerDuration = random(ranMin, ranMax);
+      directionLeft = random(2);
+      
+      if(directionLeft){
+        motorL.run(motorSpeed);
+        motorR.run(motorSpeed);
+      }else{
+        motorL.run(-motorSpeed);
+        motorR.run(-motorSpeed);
+      }
+
+      turning = true;
+      turnTimer = millis();
+    }
+    
+    
+  }
+  
+  /*
+  Serial.print("Distance : ");
+  Serial.print(ultraSensor.distanceCm() );
+  Serial.println(" cm");
+  //delay(100);//docs say at least that timer
+  */
+  /*motorL.run(motorSpeed); // value: between -255 and 255. 
+  /motorR.run(motorSpeed); // value: between -255 and 255. 
+
+  delay(2000);
+  motorL.stop();
+  motorR.stop();
+
+  delay(100);
+  motorL.run(-motorSpeed);
+  motorR.run(-motorSpeed);
+
+  delay(2000);
+  motorL.stop();
+  motorR.stop();
+
+  delay(2000);
+  */
+}