Challenge: Basic Robot Movements

In this challenge you will explore basic robot movements. Implement each movement as a function, then combine them in a program. But, before, you need to assemble the robot.

Foundation: Single Motor Driver

Write the setSpeed function that you will be using in the remainder of the challenge. The function takes 5 parameters :

• speed: a value between -255 and +255
• duration: Duration in milliseconds
• speedPin: Motor speed pin number
• directionPin: Motor direction pin number
• breakPin: Motor break pin number

When the speed parameter is positive, the motor rotates forward. And, when speed is negative, to motor rotates backward.

Move in a back and forth for a given duration

Write a program that makes the robot move back and forth. It should move forward in a straight line for 3 seconds. Then, the robot should move backward in straight line too for 3 seconds.

Rotate in Place

Write a program that makes the robot rotate in place. It should rotate clockwise for 3 seconds. Then, the robot should rotate counter-colockwise for 3 seconds.

Move in a Circle

Write a function circleMove that makes the robot move in a circle. It takes 1 parameter radius which is the radius of a circle, an integer value. Write a program that make the robot move following different circle sizes.

Move in a Spiral

Write a function spiralMove that makes the robot move following a spiral shape. The function takes 2 parameters:

• maxRadius: a positive integer that represent the maximum distance between the robot and the spiral center
• speed: an integer that represent how fast the robot moves following the spiral.
  • When speed is positive, the robot starts from the center of the spiral and moves outwards.
  • When speed is negative, the robots starts from the edge of the spiral and moves inwards.