From 9d6019076927017b90f04c84e3ebbe9907b64613 Mon Sep 17 00:00:00 2001
From: Edvin <edj7467@gmail.com>
Date: Mon, 12 May 2025 14:13:51 +0200
Subject: Made sure status angle is an int and made goal pairing better

---
 arduino/arduino.ino | 106 +++++++++++++++++++++++++++++++++++++++++++---------
 1 file changed, 88 insertions(+), 18 deletions(-)

(limited to 'arduino/arduino.ino')

diff --git a/arduino/arduino.ino b/arduino/arduino.ino
index c4c6c99..35ebe17 100644
--- a/arduino/arduino.ino
+++ b/arduino/arduino.ino
@@ -251,7 +251,7 @@ void loop() {
       }
       else if (digitalRead(RIR)) {
         delay(50);
-        analogWrite(D1, 150);
+        analogWrite(D1, 100);
         digitalWrite(D2, LOW);
         digitalWrite(D3, LOW);
         analogWrite(D4, 150);
@@ -261,13 +261,13 @@ void loop() {
         delay(50);
         digitalWrite(D1, LOW);
         analogWrite(D2, 150);
-        analogWrite(D3, 150);
+        analogWrite(D3, 100);
         digitalWrite(D4, LOW);
         delay(100);
       }
       else if (digitalRead(FRIR)) {
         delay(50);
-        analogWrite(D1, 255);
+        analogWrite(D1, 200);
         digitalWrite(D2, LOW);
         digitalWrite(D3, LOW);
         analogWrite(D4, 255);
@@ -277,7 +277,7 @@ void loop() {
         delay(50);
         digitalWrite(D1, LOW);
         analogWrite(D2, 255);
-        analogWrite(D3, 255);
+        analogWrite(D3, 200);
         digitalWrite(D4, LOW);
         delay(150);
       }
@@ -291,34 +291,104 @@ void loop() {
     case checkRight:
       command = checkLeft;
 
-      analogWrite(D1, 100);
-      digitalWrite(D2, LOW);
-      digitalWrite(D3, LOW);
-      analogWrite(D4, 100);
-      delay(100 + i);
+      if (digitalRead(RIR)) {
+        delay(50);
+        analogWrite(D1, 150);
+        digitalWrite(D2, LOW);
+        digitalWrite(D3, LOW);
+        analogWrite(D4, 150);
+        delay(100);
+      }
+      else if (digitalRead(LIR)) {
+        delay(50);
+        digitalWrite(D1, LOW);
+        analogWrite(D2, 150);
+        analogWrite(D3, 150);
+        digitalWrite(D4, LOW);
+        delay(100);
+      }
+      else if (digitalRead(FRIR)) {
+        delay(50);
+        analogWrite(D1, 255);
+        digitalWrite(D2, LOW);
+        digitalWrite(D3, LOW);
+        analogWrite(D4, 255);
+        delay(150);
+      }
+      else if (digitalRead(FLIR)) {
+        delay(50);
+        digitalWrite(D1, LOW);
+        analogWrite(D2, 255);
+        analogWrite(D3, 255);
+        digitalWrite(D4, LOW);
+        delay(150);
+      }
+      else {
+        analogWrite(D1, 100);
+        digitalWrite(D2, LOW);
+        digitalWrite(D3, LOW);
+        analogWrite(D4, 100);
+        delay(100 + i);
+        i += 10;
+      }
+
       digitalWrite(D1, LOW);
       digitalWrite(D2, LOW);
       digitalWrite(D3, LOW);
       digitalWrite(D4, LOW);
-      delay(500);
+      delay(200);
 
-      i += 10;
+      
       break;
     case checkLeft:
       command = checkRight;
 
-      digitalWrite(D1, LOW);
-      analogWrite(D2, 100);
-      analogWrite(D3, 100);
-      digitalWrite(D4, LOW);
-      delay(100 + i);
+      if (digitalRead(RIR)) {
+        delay(50);
+        analogWrite(D1, 150);
+        digitalWrite(D2, LOW);
+        digitalWrite(D3, LOW);
+        analogWrite(D4, 150);
+        delay(100);
+      }
+      else if (digitalRead(LIR)) {
+        delay(50);
+        digitalWrite(D1, LOW);
+        analogWrite(D2, 150);
+        analogWrite(D3, 150);
+        digitalWrite(D4, LOW);
+        delay(100);
+      }
+      else if (digitalRead(FRIR)) {
+        delay(50);
+        analogWrite(D1, 255);
+        digitalWrite(D2, LOW);
+        digitalWrite(D3, LOW);
+        analogWrite(D4, 255);
+        delay(150);
+      }
+      else if (digitalRead(FLIR)) {
+        delay(50);
+        digitalWrite(D1, LOW);
+        analogWrite(D2, 255);
+        analogWrite(D3, 255);
+        digitalWrite(D4, LOW);
+        delay(150);
+      }
+      else {
+        digitalWrite(D1, LOW);
+        analogWrite(D2, 100);
+        analogWrite(D3, 100);
+        digitalWrite(D4, LOW);
+        delay(100 + i);
+        i += 10;
+      }
+
       digitalWrite(D1, LOW);
       digitalWrite(D2, LOW);
       digitalWrite(D3, LOW);
       digitalWrite(D4, LOW);
       delay(500);
-
-      i += 10;
       break;
     default:
       digitalWrite(D1, LOW);
-- 
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