From 65f4889c9106419a8cd4fe4a5b8d76988f5581f6 Mon Sep 17 00:00:00 2001
From: Gron1275 <grennongurney@gmail.com>
Date: Sun, 28 Oct 2018 14:20:21 -0400
Subject: [PATCH] Add files via upload

---
 Grenan/Roomba2 with working randomizer.c | 73 ++++++++++++++++++++++++
 1 file changed, 73 insertions(+)
 create mode 100644 Grenan/Roomba2 with working randomizer.c

diff --git a/Grenan/Roomba2 with working randomizer.c b/Grenan/Roomba2 with working randomizer.c
new file mode 100644
index 0000000..30ea50b
--- /dev/null
+++ b/Grenan/Roomba2 with working randomizer.c	
@@ -0,0 +1,73 @@
+#pragma config(Sensor, dgtl12,  bowBump,     sensorTouch)
+#pragma config(Sensor, dgtl3,  ledINIT,        sensorLEDtoVCC)
+#pragma config(Sensor, dgtl6,  led2,           sensorLEDtoVCC)
+#pragma config(Sensor, dgtl9, led3,           sensorLEDtoVCC)
+#pragma config(Motor,  port6,           starboardFWD,  tmotorServoContinuousRotation, openLoop)
+#pragma config(Motor,  port7,           starboardBACK, tmotorServoContinuousRotation, openLoop)
+#pragma config(Motor,  port8,           portFWD,       tmotorServoContinuousRotation, openLoop)
+#pragma config(Motor,  port9,           portBACK,      tmotorServoContinuousRotation, openLoop)
+/*
+Project Title: Roomba
+Team Members: Grennon, Kyle, Pat, Buddy
+Date: 10/22/2018
+Section: Block C
+
+Task Description: Make a roomba that turns when it hits stuff
+
+Pseudocode:
+Make the robot move forward until bowBump is pressed
+Then have the code move robot backwards and spin for an amt of time that is determined by a wait comand with a random Int inside of it
+We might put it in a while loop this way it runs contunuiously
+*/
+
+void motorStop(){
+	stopMotor(portBACK);
+	stopMotor(starboardBACK);
+	stopMotor(starboardFWD);
+	stopMotor(portFWD);
+}
+void backOff(){
+	int left_or_right;
+	left_or_right = rand() % 2;
+	motorStop();
+	wait(0.5);
+	startMotor(portFWD, 43);
+	startMotor(portBACK, 43);
+	startMotor(starboardFWD, -42);
+	startMotor(starboardFWD, -42);
+	wait(1);
+	motorStop();
+	if(left_or_right == 0){
+		startMotor(portFWD, -43);
+		startMotor(portBACK, -43);
+		startMotor(starboardFWD, -42);
+		startMotor(starboardFWD, -42);
+		wait(2);
+		motorStop();
+
+	}
+	if(left_or_right == 1){
+		startMotor(portFWD, 43);
+		startMotor(portBACK, 43);
+		startMotor(starboardFWD, 42);
+		startMotor(starboardFWD, 42);
+		wait(2);
+		motorStop();
+	}
+
+}
+
+task main(){
+	wait(5);
+	while(1 == 1){
+		startMotor(portFWD, -43);
+		startMotor(portBACK, -43);
+		startMotor(starboardFWD, 42);
+		startMotor(starboardFWD, 42);
+
+		if(SensorValue[bowBump] == 1){
+			backOff();
+
+		}
+	}
+}