ARDUINO ROTARY ROBOT PROJECT by Elif AVCU

Author:Elif AVCU [AVCU, Elif]
Language: eng
Format: azw3
Published: 2018-07-30T16:00:00+00:00

set_site(3, turn_x0 + x_offset, turn_y0, z_up);

wait_all_reach();

set_site(0, x_default - x_offset, y_start + y_step, z_default);

set_site(1, x_default - x_offset, y_start + y_step, z_default);

set_site(2, x_default + x_offset, y_start, z_default);

set_site(3, x_default + x_offset, y_start, z_up);

wait_all_reach();

set_site(3, x_default + x_offset, y_start, z_default);

wait_all_reach();

}

}

}

/*

- go forward

- blocking function

- parameter step steps wanted to go

---------------------------------------------------------------------------*/

void step_forward(unsigned int step)

{

move_speed = leg_move_speed;

while (step-- > 0)

{

if (site_now[2][1] == y_start)

{

//leg 2&1 move

set_site(2, x_default + x_offset, y_start, z_up);

wait_all_reach();

set_site(2, x_default + x_offset, y_start + 2 * y_step, z_up);

wait_all_reach();

set_site(2, x_default + x_offset, y_start + 2 * y_step, z_default);

wait_all_reach();

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