Lab 7

#include <RedBot.h> //includes the redbot library
RedBotMotors motors;// Instantiate the motor control object.
RedBotSensor IRSensor1 = RedBotSensor(A4);// initialize sensors - left IR
RedBotSensor IRSensor2 = RedBotSensor(A5);// right IR
RedBotBumper lBumper = RedBotBumper(3); // Left bumper
RedBotBumper rBumper = RedBotBumper(11); //Right bumper
int thr = 950; // wood floor varies more
int lSpeed = -70; //forward speed
int rSpeed = 55; //right speed significantly slowed so it can slowly curve right when moving forward.
int lBumperState; //detect bumper touch
int rBumperState; //detect bumper touch
void setup() {

//test code

//motors.leftMotor(-80);
//motors.rightMotor(75);
//delay(6000);
//motors.stop();
//delay(100);
//motors.leftMotor(-100);
//motors.rightMotor(-100);
//delay(520);
//motors.stop();
Serial.begin(9600);

}

void loop() {

//test code

///Serial.print(IRSensor1.read());
//Serial.print("\t");// tab character
//Serial.print(IRSensor2.read());
//Serial.print("\t");
motors.leftMotor(lSpeed);
motors.rightMotor(rSpeed);
lBumperState = lBumper.read();
rBumperState = rBumper.read();

if(lBumperState == LOW && rBumperState == HIGH) { //Left bumper triggered, back up and turn left large.
motors.stop();
delay(250);
motors.leftMotor(60);
motors.rightMotor(-56);
delay(1000);
motors.stop();
motors.leftMotor(60);
motors.rightMotor(60);
delay(700);
motors.leftMotor(lSpeed);
motors.rightMotor(rSpeed);
}
if(lBumperState == LOW && rBumperState == LOW) { //Left and right bumper triggered, back up and left large.
  motors.stop();
  delay(250);
  motors.leftMotor(60);
  motors.rightMotor(-56);
  delay(1000);
  motors.stop();
  delay(250);
  motors.leftMotor(60);
  motors.rightMotor(60);
  delay(600);
  motors.leftMotor(lSpeed);
  motors.rightMotor(rSpeed);
}
if(rBumperState == LOW && lBumperState == HIGH){ //Right bumper triggered, back up and turn left small
  motors.stop();
  motors.leftMotor(60);
  motors.rightMotor(-56);
  delay(500);
  motors.stop();
  delay(250);
  motors.leftMotor(60);
  motors.rightMotor(60);
  delay(400);
  motors.stop();
  motors.leftMotor(lSpeed);
  motors.rightMotor(rSpeed);
}

//test code

//Serial.print(IRSensor1.read());
//Serial.print("\t");// tab character
//Serial.print(IRSensor2.read());
//Serial.print("\t");
}