#pragma config(CircuitBoardType, typeCktBoardUNO)
#pragma config(Motor,  servo_A,         leftMotor,     tmotorServoContinuousRotation, openLoop, IOPins, dgtl13, None)
#pragma config(Motor,  servo_B,         rightMotor,    tmotorServoContinuousRotation, openLoop, IOPins, dgtl12, None)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//


/*
                        R O B O T C   F O R   A R D U I N O
                              M A K I N G   T U R N S
                                     Ron Kessler
                                  Created 8/19/2018


Updated 8/20/2018


 2-1- Making turns
PURPOSE: This shows how to make pivot and spin turns on the Arduino using the same code
					as we did for the Lego NXT.

  SETUP:	rt = digital pin 12, left = digital pin 13. This matches the motor controller board.
  				The numbers used to control continuous rotation servos is from -127 to +127 with 0 = stop.
  				The 127 is full speed CCW and -127 is full speed CW. Orient yourself when you plan which direction
  				to rotate them.
*/

task main()
{



	//---spin right
	motor[leftMotor]= 127;				//go ccw Drivers side remember!
	motor[rightMotor] = 127;		//go ccw on passenger side.
	wait1Msec(2000);

	//---spin left
	motor[leftMotor]= -127;				//go cw Drivers side remember!
	motor[rightMotor] = -127;		//go cw on passenger side.
	wait1Msec(2000);


	//Do PIVOT turns
	//---we hold one motor off & the other one moves.

	motor[leftMotor]= 0;
	motor[rightMotor] = -127;
	wait1Msec(2000);


	motor[leftMotor]= 127;
	motor[rightMotor] = 0;
	wait1Msec(2000);

	//Go Forward
	motor[leftMotor]= 127;
	motor[rightMotor] = -127;
	wait1Msec(2000);


	//Go Backwards & stop
	motor[leftMotor]= -127;
	motor[rightMotor] = 127;
	wait1Msec(2000);

}