turn.c

/*
 * Code to perform various types of turns.  The delays here had to be
 * calibrated for the 3pi's motors.
 */

#include <pololu/3pi.h>

// Turns according to the parameter dir, which should be 'L', 'R', 'S'
// (straight), or 'B' (back).
void turn(char dir)
{
	switch(dir)
	{
	case 'L':
		// Turn left.
		set_motors(-80,80);
		delay_ms(200);
		break;
	case 'R':
		// Turn right.
		set_motors(80,-80);
		delay_ms(200);
		break;
	case 'B':
		// Turn around.
		set_motors(80,-80);
		delay_ms(400);
		break;
	case 'S':
		// Don't do anything!
		break;
	}
}

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