Hands-On Robotics Programming with C++

Axial left turn

In an axial left turn, the left motor of the robot moves backward and the right motor moves forward, so the robot takes a left turn, as shown in the following diagram:

If you have understood how the H-bridge works, you might be able to guess the code for taking an axial turn. If not, the code is as follows:

digitalWrite(0,LOW);digitalWrite(2,HIGH);digitalWrite(3,HIGH);digitalWrite(4,LOW);delay(500);

You will need to play around with the delay value a little bit to make sure that the robot is turning properly in the left direction. If the delay value is high, the robot will turn more than 90°, whereas if it is low, the robot ...