Using EyeSim app, give the code to drive the robot in a lawnmower pattern. Use the code below to help.

The below code is to;drive the robot straight and collision$-$free close to the

wall in front, then turn to the right, so it is parallel to the wall $($at the robot$$s left$-$hand side$)$ in about $15$cm distance.

#include "eyebot.h$"$

int main$()\{$

$//$drive to wall

VWSetSpeed$(50,0)$;

while $($true$)\{$

if $($PSDGet $(1)<150)\{$

VWSetSpeed$(0,0)$;

break;

$\}$

$\}$

int PSDOld $=1000000$;

VWSetSpeed$(0,10)$;

$//$parallel to wall

while $($true$)\{$

int PSDNew $=$ PSDGet $(2)$;

if $($PSDOld $<$ PSDNew$)\{$

VWSetSpeed $(0,0)$;

break;

$\}$

PSDOld $=$ PSDNew;

$\}$

$\}$

The below code is to: drive one complete $($and collision$-$free$)$ loop around the driving area, always keeping a similar distance to the wall on the left$-$hand$-$side of the robot.

#include "eyebot.h$"$

void driveToWall $()\{$

VWSetSpeed$(50,0)$;

while $($true$)\{$

if $($PSDGet $(1)<50)\{$

VWSetSpeed$(0,0)$;

break;

$\}$

$\}$

return;

$\}$

void driveParallelToWall $()\{$

VWSetSpeed$(50,0)$;

while $($true$)\{$

if $($PSDGet $(1)<50)\{$

VWSetSpeed$(0,0)$;

break;

$\}$

int leftPSD $=$ PSDGet $(2)$;

if $($leftPSD $<13)\{$

VWSetSpeed$(50,-10)$; $//$Turns slightly right

$\}$ else if $($leftPSD $>17)\{$

VWSetSpeed$(50,10)$; $//$Turns slightly left

$\}$ else $\{$

VWSetSpeed$(50,0)$; $//$Goes straight

$\}$

$\}$

return;

$\}$

int main$()\{$

driveToWall$()$;

$//$parallel to wall

int PSDOld $=1000000$;

VWSetSpeed$(0,-10)$;

while $($true$)\{$

int PSDNew $=$ PSDGet $(2)$;

if $($PSDOld $<$ PSDNew$)\{$

VWSetSpeed $(0,0)$;

break;

$\}$

PSDOld $=$ PSDNew;

$\}$

for $($int i $=0$; i $<5$; i$++)\{$

driveToWall$()$;

VWTurn$(90,30)$; $//$tweak $90$ value as it wont be exact

$\}$

$\}$