Datasheet

Light-Sensitive Navigation with Phototransistors • Chapter 6
Robotics with the BOE Shield-Bot • 215
long time = micros(); // Mark the time
while(digitalRead(pin)); // Wait for voltage < threshold
time = micros() - time; // Calculate decay time
return time; // Returns decay time
}
// maneuver function
void maneuver(int speedLeft, int speedRight, int msTime)
{
servoLeft.writeMicroseconds(1500 + speedLeft); // Left servo speed
servoRight.writeMicroseconds(1500 - speedRight); // Right servo speed
if(msTime==-1) // if msTime = -1
{
servoLeft.detach(); // Stop servo signals
servoRight.detach();
}
delay(msTime); // Delay for msTime
}