Im looking at an instructables tutorial on a rover using an ultrasonic sensor.
I’ve been looking over the code to try and understand it fully before implementing it or tweaking it.
The link is here:
I’ve boiled the code down to:
checkPath() -Sweeps left to right 144 a 36 -checkForward() ensures we are facing front -readPing() -If distance < 10cm = checkCourse and exit sweep loop -If distance < 20cm = changePath setCourse() - If maxAngle < 90, turnRight() & vv checkCourse() - reverse, stop, setCourse() changePath() - If pos < 90, veerLeft() & vv readPing() - retorna distancia checkForward() & checkBackward() moveForward() & moveBackward - faces front & accelerates slowly moveStop() - all stops turnRight() & turnLeft() - ?? veerRight() & veerLeft() - ??
Im confused as to what turnRight/Left() and veerRight/Left do?
It would appear turnRight actually makes the car spin in place as it turns right. But then veerRight seems quite similar. Then I noticed they are each called from changeCourse() and changePath() where changeCourse() calls turnR/L and changePath() calls veerR/L.