//   .
#include motor.h
//   
const int left_line = 2;
const int right_line = 13;
//========================================
void fast_time_move(long ttime);
void setup()
{
Serial.begin(9600);
//1-, 0-
pinMode(left_line, INPUT);
pinMode(right_line, INPUT);
//     () Arduino.
//      .
setup_motor_system(3, 4, 11, 7, 8, 10);
_stop(); // .
setspeed(255, 255);
delay(1000);
Serial.print( Start );
}
//=====================================
//  .
void loop()
{
fast_time_move(10000);
delay(10000);
}
//=====================================
void fast_time_move(long ttime)
{
bool left_li, right_li;
long timerTec;
long timerStart;
timerTec = micros();
timerStart = timerTec + ttime * 1000;
while ( (timerTec < timerStart) )
{
left_li = digitalRead(left_line);
right_li = digitalRead(right_line);
if ((!left_li) && (!right_li))
{
forward();
}
else
{
if (left_li && right_li)
{
right();
}
else
{
if (left_li)
{
left();
}
else
{
right();
}
}
}
delayMicroseconds(150);
_stop();
delayMicroseconds(100);
timerTec = micros();
}
}