Robot - Movement Commands for Experimenting

/* YourDuino Basic Robot Kit V2 User EDitable Software Sketch
How To Page that goes with this Software Sketch:
http://arduino-info.wikispaces.com/Robot+Commands
 WHAT IT DOES:
 - Runs the robot motors
 - Program the robot to make different moves such as Forward, SpinRight, Back etc.
 - SEE the comments after "//" on each line below

 - V2.20 3/27/2015 maryalice@yourduino.com
 Questions: terry@yourduino.com */
 
 Robot Commands and Editing
Now that you have built the Robot and have it running, you can learn to edit the Commands and create a newSoftware Sketch to make the Robot follow your own commands. Some of the different Commands and what they do are listed below:

    Forward: Runs both motors in the forward direction
    Backward: Runs both motor in a backward direction
    TurnRight: Makes the left motor go forward with the right motor stopped
    TurnLeft: Makes the right motor go forward with the left motor stopped
    SpinRight: Runs the right motor in reverse and the left motor in forward
    SpinLeft: Runs the left motor in reverse and the right motor in forward
    Wait: Stops the robot for a certain length of time that you decide
    Stop: Stops both motors


You can change the Robot Commands in these ways:
Speed:

    Forward:
        ForwardSlow, ForwardMedium, ForwardFast, ForwardMax
    Backward:
        BackwardSlow, BackwardMedium, BackwardFast, BackwardMax

Length of Time a Command will Run:

    Time is measured in milliseconds (Ms) so 1000 Ms = 1 second, 500 Ms = 1/2 second, etc.

Order in which the Commands Occur:

    You can mix and match commands to make the Robot run in many different patterns
 
 
/***************************************************************/
/*---------------------( DEFINITION AREA )---------------------*/
/***************************************************************/

/*-----( Import needed libraries )-----*/
#include <YD_MotorDriver1.h>  // For control of the two DC Motors

/*-----( Declare Constants and Pin Numbers )-----*/

// NOTE: Pins 9 (Motor1) and 10 (Motor2) are predefined, unchangeable
#define  Motor1A  8  
#define  Motor1B  7
#define  Motor2C  6
#define  Motor2D  5
/* Motor speed can be in the range of 200 - 400 only */
#define  StartMoveSpeed    200  // Lowest Motor Speed value for start of motion
/* The section sets up the motor speeds for slow, medium, fast 
 The adjust numbers help make the robot run straight.
 Positive numbers turn more right, negative numbers turn more left.*/
#define  SlowMoveSpeed     280
#define  SlowMoveAdjust     0   // Adjust to go straight: - Left + Right??

#define  MediumMoveSpeed   300
#define  MediumMoveAdjust   0  // Adjust to go straight: - Left + Right

#define  FastMoveSpeed     350
#define  FastMoveAdjust     0  // Adjust to go straight: - Left + Right

#define  MaxMoveSpeed     385
#define  MaxMoveAdjust     0  // Adjust to go straight: - Left + Right
/*-----( Declare objects )-----*/
YD_MotorDriver1 RobotDriver(Motor1A,Motor1B,Motor2C,Motor2D); // Set pins

/***************************************************************/
/*-----------------( SETUP AREA RUNS ONCE )--------------------*/
/***************************************************************/

void setup()
{
  Serial.begin(115200);  //Start the "Serial Monitor"
  delay(1000);
  Serial.println("YourDuino Robot Kit V2 User Editable Robot Control");
  //--NOTE:  Motor Pins set to OUTPUT by their libraries  
  RobotDriver.init();  //Start up the Robot Driver Library
}//--(end setup )---

/******************( LOOP: RUNS CONSTANTLY )********************/
void loop()   
{
/***************************************************************/

/*--------------------( EDITABLE AREA )------------------------*/

/***************************************************************/
  ForwardSlow(2000);  
  Wait(2000);
  
  ForwardMedium(2000); 
  Wait(2000);  

  BackwardMedium(4000);  
  Wait(2000);     

  SpinRight(5000);  
  Wait(2000);     

  SpinLeft(5000);  
  Wait(5000);  
  
//Now this will go back to the beginning of code in the Editable Area

/***************************************************************/
/*-----------------( END OF EDITABLE AREA )--------------------*/
/***************************************************************/
}//--(end main loop )---

/***************************************************************/
/*-------------------( MOTOR CONTROL AREA )--------------------*/
/***************************************************************/

void ForwardSlow(int howLong)
{
  RobotDriver.Motor1Speed(SlowMoveSpeed + SlowMoveAdjust);
  RobotDriver.Motor2Speed(SlowMoveSpeed - SlowMoveAdjust); 
  delay(howLong);
  Stop();
}
/*---------------------------*/

void ForwardMedium(int howLong)
{
  RobotDriver.Motor1Speed(MediumMoveSpeed + MediumMoveAdjust);
  RobotDriver.Motor2Speed(MediumMoveSpeed - MediumMoveAdjust);
  delay(howLong);
  Stop(); 
}
/*---------------------------*/
void ForwardFast(int howLong)
{
  RobotDriver.Motor1Speed(FastMoveSpeed + FastMoveAdjust);
  RobotDriver.Motor2Speed(FastMoveSpeed - FastMoveAdjust); 
  delay(howLong);
  Stop();
}

/*---------------------------*/
void ForwardMax(int howLong)
{
  RobotDriver.Motor1Speed(MaxMoveSpeed + MaxMoveAdjust);
  RobotDriver.Motor2Speed(MaxMoveSpeed - MaxMoveAdjust); 
  delay(howLong);
  Stop();
}
/*---------------------------*/
void BackwardSlow(int howLong)
{
  RobotDriver.Motor1Speed(- SlowMoveSpeed );
  RobotDriver.Motor2Speed(- SlowMoveSpeed ); 
  delay(howLong);
  Stop();  
}
/*---------------------------*/
void BackwardMedium(int howLong)
{
  RobotDriver.Motor1Speed(- MediumMoveSpeed);
  RobotDriver.Motor2Speed(- MediumMoveSpeed); 
  delay(howLong);
  Stop(); 
}
/*---------------------------*/
void BackwardFast(int howLong)
{
  RobotDriver.Motor1Speed(- FastMoveSpeed);
  RobotDriver.Motor2Speed(- FastMoveSpeed); 
  delay(howLong);
  Stop(); 
}

/*---------------------------*/
void BackwardMax(int howLong)
{
  RobotDriver.Motor1Speed(- MaxMoveSpeed);
  RobotDriver.Motor2Speed(- MaxMoveSpeed); 
  delay(howLong);
  Stop();
}
/*---------------------------*/
void Stop()
{
  RobotDriver.Motor1Speed(0);
  RobotDriver.Motor2Speed(0); 
}
/*---------------------------*/
void TurnLeft(int howLong)
{
  RobotDriver.Motor1Speed(0);
  RobotDriver.Motor2Speed(MediumMoveSpeed);
  delay(howLong);
  Stop();
}
/*---------------------------*/
void TurnRight(int howLong)
{
  RobotDriver.Motor1Speed(MediumMoveSpeed);
  RobotDriver.Motor2Speed(0);
  delay(howLong);
  Stop(); 
}
/*---------------------------*/
void SpinLeft(int howLong)
{
  RobotDriver.Motor1Speed(-MediumMoveSpeed);
  RobotDriver.Motor2Speed( MediumMoveSpeed);
  delay(howLong);
  Stop();
}
/*---------------------------*/
void SpinRight(int howLong)
{
  RobotDriver.Motor1Speed(MediumMoveSpeed);
  RobotDriver.Motor2Speed(- MediumMoveSpeed);
  delay(howLong);
  Stop(); 
}
/*---------------------------*/
void Wait(int howLong)
{
  delay(howLong);
}
/*---------------------------*/

//*********( THE END )***********