A perfect function for avoiding Obstacle perfectly with default turn.

[hasibkyau]

• [x] Write a function for avoiding a obstacle
• [x] #15
• [ ] Use less time to escape the obstacle.

[hasibkyau]

//**Avoid obstacle if found //for default turn == left void AvoidObstacle() { int max_spd, min_spd; if (dt == 1){ max_spd = 0; min_spd = 255; } else { max_spd = 255; min_spd = 0; } Brake(); Serial.println("Obstacle found!"); delay(500); MotorL.Speed(min_spd); MotorR.Speed(max_spd);// Right turn delay(wrt 3); MotorR.Speed(min_spd); MotorL.Speed(max_spd);// Left turn delay(wrt 3); MotorR.Speed(255); MotorL.Speed(255);// Straight forward delay(wrt 3); MotorR.Speed(min_spd); MotorL.Speed(max_spd);// Right turn delay(wrt * 3); do { MotorR.Speed(255); MotorL.Speed(255);// Straight ReadIR(); } while (AIR == 5); //Brake(); Serial.println("Obstacle skiped!"); delay(500); }

[hasibkyau]

Not that good enough.