avoid

enum avoidance_enum {
	normal, check1, turn_clockwise, turn_anticlockwise_segment_one, turn_anticlockwise_segment_two, check2, turn_anticlockwise_segment_three
};


void carAvoidance(double function_RPM, double short_distance)
{
	switch (avoidance_state)
	{
	case normal:
		target_RPM = function_RPM;
		driveStraight();
		avoidance_state = check;
		break;
	case check1: //Check from going forward
		//distance = ultra.current_distance();
		rotated = false;
		if (short_distance <= curent_distance)
		{
			avoidance_state = turn_clockwise;
		}
		else
		{
			avoidance_state = normal;
		}
		break;
	case turn_clockwise:
		turn(0);
		if (rotated)
		{
			avoidance_state = check1;
		}
	case turn_anticlockwise_segment_one:
		turn(1);
		if (rotated)
		{
			avoidance_state = turn_anticlockwise_segment_two;
			rotated = false;
		}
	case turn_anticlockwise_segment_two:
		turn(1);
		if (rotated)
		{
			avoidance_state = check2;
		}

	case check2: //check from going clockwise
		rotated = false;
		if (short_distance <= curent_distance)
		{
			avoidance_state = turn_anticlockwise_segment_three;
		}
		else
		{
			avoidance_state = normal;
		}
		break;
	case turn_anticlockwise_segment_three:
		turn(1);
		if (rotated)
		{
			avoidance_state = normal;
		}


	}
}