hacksterio_drawing_car.ino

#include <AFMotor.h>

AF_DCMotor left(3); // This is M3
AF_DCMotor right(4); // This is M4

// Stops both wheels
void stop() {
  left.run(RELEASE);
  right.run(RELEASE);
}

void setup()
{
  left.setSpeed(120);
  right.setSpeed(120);
}

void loop() {
  delay(1000);
  rotateLeft(90);
  rotateRight(180);
  rotateLeft(90);
}

/**
 * speed 120 at 9v for 2.5s seems to make a reliable full circle
 */
void xDegrees(float x) {
  int fullCircle = 2500;
  delay(fullCircle * (x/360.0));
}

void rotateLeft(int degrees) {
  // Stop left wheel
  left.run(RELEASE);
  // Start right wheel forward
  right.run(FORWARD);
  // Wait until the car has reached some degrees
  xDegrees(degrees);
  stop();
}

void rotateRight(int degrees) {
  // Stop left wheel
  left.run(RELEASE);
  // Start right wheel backwards
  right.run(BACKWARD);
  xDegrees(degrees);
  stop();
}