Week 3 Programming Assignment 2

#if 1
//ultrasonic sensor//

    void motor_tankturn(int turn_speed, int delay);
    void motor_tankturn_random(void);

void zmain(void)
{
    bool OnOff = false;
    Ultra_Start();                          // Ultra Sonic Start function
    motor_stop();

    while(true) {  // Waits for users button press to start
     if(SW1_Read() == 0) {
        printf("\nStarting...\n");
        motor_start();
        motor_forward(0,0);
        OnOff = true;
        break;
        }
    }

    while(OnOff) {


        int d = Ultra_GetDistance();
        if ( d <= 10 )
        {
            printf("WARNING! Distance to obstacle: %dcm\r\n", d);
            motor_forward(0,0);
            motor_backward(100,400);
            motor_backward(0,0);
            motor_tankturn_random();
            /*motor_tankturn(53,990);*/
            vTaskDelay(500);
        } else {
            // Print the detected distance (centimeters)
        printf("distance = %d\r\n", d);
        motor_forward(50,200);
        motor_forward(0,0);
        }
    }
}

void motor_tankturn(int turn_speed, int delay)
{
    SetMotors(0,0,turn_speed, 0,delay);
    motor_forward(0,0);
}
void motor_tankturn_random(void)
{
    int delay = (rand() % (2965 +1 - 990) + 990);
    int leftright = (rand() % (1 + 1));
    printf("\n%d ", leftright);
    printf("- %d\n", delay);
    if (leftright == 1) {
        SetMotors(0,0,53, 0,delay);
    } else {
        SetMotors(0,0,0,53,delay);
    }
    motor_forward(0,0);
}
#endif