 # Lesson 11 · Turning & Other Navigation Moves

Suggested Time: 60-75 minutes

## Lesson Plan

### Overview

In this section we will be programming our Barnabas Rover to turn!

### Create A Turn

To create a turn, we’ll need to:

1. Program on wheel to move forward while the other one is stopped.
2. Determine how long we want the one wheel to turn before we stop it

See below for code that turns right, stops for 3 seconds and then turns left and stops for 3 seconds. Try it out! Remember that you need to push the button first before it moves because of the button code inside the while loop. #### Challenge #1: Adjust The Turn Amount

Change the delay inside the subroutines to adjust how much it turns.

#### Challenge #2: Create Right Angle Turns

Change the delay inside the subroutines so that the left and right turns create exactly 90 degree turns.

#### Challenge #3: Adjust The Turn Direction

Change the low/high values to change the direction of the turn so that it turns backwards instead of forwards.

Note: This uses pins 3,11 and 9,11 for the DC driver. There is also an additional challenge to move forward by distance. I don’t get it quite right, but I show you the process. Feel free to try it out too! :)

/*
Challenges:
1) moveforward using speed + distance
*/

int motb_pin1 = 3;
int motb_pin2 = 11;

int mota_pin1 = 9;
int mota_pin2 = 10;

int button_pin = 2;

void setup() {

//-Control Motor B
pinMode(motb_pin1,OUTPUT);
pinMode(motb_pin2,OUTPUT);

//-Control Motor A
pinMode(mota_pin1,OUTPUT);
pinMode(mota_pin2,OUTPUT);

//- button
pinMode(button_pin,INPUT_PULLUP);

}

//- turn 90 degrees
void turnRight() {

//- motor b is stopped
analogWrite(motb_pin1,0);
analogWrite(motb_pin2,0);

//- motor a moves forward
analogWrite(mota_pin1,255);
analogWrite(mota_pin2,0);

delay(600);

//- stop motor a
analogWrite(mota_pin1,0);
analogWrite(mota_pin2,0);

}

void turnLeft() {

//- motor a is stopped
analogWrite(mota_pin1,0);
analogWrite(mota_pin2,0);

//- motor b moves forward
analogWrite(motb_pin1,0);
analogWrite(motb_pin2,255);

delay(800);

//- stop motor b
analogWrite(motb_pin1,0);
analogWrite(motb_pin2,0);

}

void stop() {
//- motor a
analogWrite(mota_pin1,255);
analogWrite(mota_pin2,255);

//- motor b
analogWrite(motb_pin1,255);
analogWrite(motb_pin2,255);
}

void moveForward(int speeda, int speedb, int inches) {

int myDelay;

//- motor a
analogWrite(mota_pin1,speeda);
analogWrite(mota_pin2,0);

//- motor b
analogWrite(motb_pin1,0);
analogWrite(motb_pin2,speedb);

//- move forward the distance in inches
myDelay = inches*125;
delay(myDelay);

//- stop
stop();

}

void moveBackward(int speeda, int speedb) {

//- motor a
analogWrite(mota_pin1,0);
analogWrite(mota_pin2,speeda);

//- motor b
analogWrite(motb_pin1,speedb);
analogWrite(motb_pin2,0);

}

void loop() {

moveForward(110,110,10);
}
else {
stop();
}

}