Colony

//Created 4/30/06 by James Kong

#include "firefly+_lib.h"

//#include "pindefs_ff.h"

#include "move.h"

/*

Move and turn functions are overloaded so they can be called with or without the speed or time parameters.

If called wihtout parameters, the defaults will be used.

*/

//Forward

void moveForward(void) {

        motor1_set(FWD, NRML_SPD);

        motor2_set(FWD, NRML_SPD);

        delay_ms(DELAY_F);

}

/*void moveForward(int speed) {

        motor1_set(FWD, speed);

        motor2_set(FWD, speed);

        delay_ms(DELAY_F);

}

void moveForward(int speed, int time) {

        motor1_set(FWD, speed);

        motor2_set(FWD, speed);

        delay_ms(time);

}

*/

//Back

void moveBack(void) {

        motor1_set(BCK, HALF_SPD);

        motor2_set(BCK, HALF_SPD);

        delay_ms(DELAY_B);

}

/*

void moveBack(int speed) {

        motor1_set(BCK, speed);

        motor2_set(BCK, speed);

        delay_ms(DELAY_B);

}

void moveBack(int speed, int time) {

        motor1_set(BCK, speed);

        motor2_set(BCK, speed);

        delay_ms(time);

}

*/

//Turn Left

void turnLeft(void) {

        motor1_set(FWD, NRML_TURN);

        motor2_set(BCK, NRML_TURN);

        delay_ms(DELAY_L);

}

/*

void turnLeft(int speed) {

        motor1_set(FWD, speed);

        motor2_set(BCK, speed);

        delay_ms(DELAY_L);

}

void turnLeft(int speed, int time) {

        motor1_set(FWD, speed);

        motor2_set(BCK, speed);

        delay_ms(time);

}

*/

//Turn Right

void turnRight(void) {

        motor1_set(BCK, NRML_TURN);

        motor2_set(FWD, NRML_TURN);

        delay_ms(DELAY_R);

}

/*

void turnRight(int speed) {

        motor1_set(BCK, speed);

        motor2_set(FWD, speed);

        delay_ms(DELAY_R);

}

void turnRight(int speed, int time) {

        motor1_set(BCK, speed);

        motor2_set(FWD, speed);

        delay_ms(time);

}*/