Deposit block code

main/main.ino

@@ -184,11 +184,26 @@ void loop() {
         Serial.println("NOT DETECTED");
       }
 
-      turn_around(turn_around_time, 255);
+      turn_around(turn_around_time, 255, right);
       region += 1;
     }
     else {
       Serial.println("REGION 3 bois");
+      if (is_metal) {
+        turn_around(turn_around_time/2, 255, right);
+      }
+      else {
+        turn_around(turn_around_time/2, 255, left);
+      }
+      bring_down_servos(110);
+      if (is_metal) {
+        turn_around(turn_around_time/2, 255, left);
+      }
+      else {
+        turn_around(turn_around_time/2, 255, right);
+      }
+      region += 1;
+      move_both(motors, 0);
       while(1);
     }
   }
@@ -407,9 +422,9 @@ float check_ultrasonic_distance(void){
   return US_distance_avg;
 }
 
-int turn_around(int turn_around_time, int turn_around_velocity){
+int turn_around(int turn_around_time, int turn_around_velocity, int side){
   turn_around_time_start = millis();
-  rotate(motors, turn_around_velocity, right);
+  rotate(motors, turn_around_velocity, side);
   while(true){
     turn_around_time_end = millis();
     if (turn_around_time_end > turn_around_time_start + turn_around_time){