I coded my robot to do multiple 360 turns in a single turn. This code was fairly simple as it was one of the first codes that we learned. My code include the left servo going clockwise while the right servo is going counterclockwise. This is my code listed below:

#include <Servo.h>// you will need this line once, and it refers to a library that controls servos.

Servo myservo;

Servo myservo2;//just defines a device called servo that is controlled by the servo library

void setup()// this is where you set things up(only occurs once)

{

myservo.attach(9); // myservo is controlled by pin 9

myservo.attach(10);

}

void loop() { // anything within void loop happens indefinitely

myservo.write(0); // turn myservo clockwise at full speed

delay(2000); // for two seconds

myservo.write(180); // turn myservo clockwise at full speed

delay(2000); // for two seconds

}

Forward

short amount of time

Turn right short amount of time

Forward

short amount of time

right

make a right 90 degree turn

forward medium amount of time

4. On one of the first days in class, we went through our materials to make sure we had everything we needed to be successful in this project. I quickly relied that I had only 3 working battery packs and not 4. This was a big problem as if I had 3 battery packs, my robot would not receive the power it needed in order to work. This later resulted in my teacher stopping by and dropping off another battery pack.

#include <Servo.h>

Servo Right;

Servo Left;

void setup()

{

Left.attach(9);

Right.attach(10);

}

void loop() {

Right.write(180); //striaght

Left.write(0);

delay (3000);

Right.write(90);//right turn

Left.write(180);

delay (2000);

Right.write(180);//striaght

Left.write(0);

delay (3000);

Right.write(90);//right turn

Left.write(180);

delay (2000);

Right.write(180);//go straight

Left.write(0);

delay (3000);

}

#include <Servo.h>

Servo Right;

Servo Left;

void setup()

{

Left.attach(9);

Right.attach(10);

}

void loop() {

Right.write(0); //Left Tank

Left.write(0);

delay(2000);

Right.write(0); //backward for 5 seconds

Left.write(180);

delay(5000);

Left.write(90);//stop for three seconds

Right.write(90);

delay(3000);

Left.write(90);//turn to the left 90 degrees.

Right.write(0);

delay(2000);

Right.write(180); //forward seconds

Left.write(0);

delay(5000);

Left.write(180);//right tank turn

Right.write(180);

delay(3000);

Left.write(0);//left tank

Right.write(0);

delay(3000);

}

#include <Servo.h>

Servo Left;

Servo Right;

const int trigPin = 5;

const int echoPin = 6;

// defines variables

long duration;

int distance;

void setup() {

// put your setup code here, to run once:

Left.attach(9);

Right.attach(10);

pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output

pinMode(echoPin, INPUT); // Sets the echoPin as an Input

Serial.begin(9600); // Starts the serial communication

}

void Forward() {

Left.write(180);

Right.write(0);

}

void Lefttankturn() {

Left.write(0);

Right.write(0);

}

void Righttankturn() {

Left.write(180);

Right.write(180);

}

void Backward() {

Left.write(0);

Right.write(180);

}

void loop() {

// put your main code here, to run repeatedly:

// Clears the trigPin

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

// Sets the trigPin on HIGH state for 10 micro seconds

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

// Reads the echoPin, returns the sound wave travel time in microseconds

duration = pulseIn(echoPin, HIGH);

// Calculating the distance

distance = duration * 0.034 / 2;

// Prints the distance on the Serial Monitor

Serial.print("Distance: ");

Serial.println(distance);

if (distance < 10) {

Backward();

delay(1000);

Righttankturn();

delay(1000);

}

else(Forward);

}

#include <Servo.h>

Servo Left;

Servo Right;

const int trigPin = 5;

const int echoPin = 6;

// defines variables

long duration;

int distance;

void setup() {

// put your setup code here, to run once:

Left.attach(9);

Right.attach(10);

pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output

pinMode(echoPin, INPUT); // Sets the echoPin as an Input

Serial.begin(9600); // Starts the serial communication

}

void Forward() {

Left.write(180);

Right.write(0);

}

void Lefttankturn() {

Left.write(0);

Right.write(0);

}

void Righttankturn() {

Left.write(180);

Right.write(180);

}

void Backward() {

Left.write(0);

Right.write(180);

}

void loop() {

// put your main code here, to run repeatedly:

// Clears the trigPin

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

// Sets the trigPin on HIGH state for 10 micro seconds

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

// Reads the echoPin, returns the sound wave travel time in microseconds

duration = pulseIn(echoPin, HIGH);

// Calculating the distance

distance = duration * 0.034 / 2;

// Prints the distance on the Serial Monitor

Serial.print("Distance: ");

Serial.println(distance);

if (distance < 10) {

Backward();

delay(1000);

Righttankturn();

delay(1000);

}

else(Forward);

}