#pragma config(Motor,  motorA,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorB,          rightMotor,    tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorC,          leftMotor,     tmotorNXT, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
/*
                               M A K I N G   T U R N S
                                     Ron Kessler
                                  Created 8/7/2018

Updated 8/31/2018
	Fixed errors in comments

 2-1- Making turns
PURPOSE: This shows how to make pivot and spin turns.
					It also shows how to make a gradual turn.
					We will use what we learned in the last two projects.

Also: I just copied all the pragma stuff from the last app and pasted it here to save time.
*/

task main()
{
	//STEP 1: Do a spin turn. Each wheel spins the same speed but in opposite directions.

	//---spin right
	motor[leftMotor]= 50;				//go forward Drivers side remember!
	motor[rightMotor] = -50;		//go reverse on passenger side. Use -50 here.
	wait1Msec(5000);

	//---turn left
	motor[leftMotor]= -50;				//go back
	motor[rightMotor] = 50;		//go forward
	wait1Msec(5000);


	//STEP 2: Do a PIVOT turn
	//---we hold left motor off make right one go forward so it turns left.

	motor[leftMotor]= 0;				//stop/off
	motor[rightMotor] = 50;		//go forward on passenger side.
	wait1Msec(5000);

	//---pivot right
	motor[leftMotor]= 50;				//go forward
	motor[rightMotor] = 0;		//stop/off
	wait1Msec(5000);


	//STEP 3: Do a "Back" Pivot Turn
	//---here the left wheel goes in reverse so the bot "backs" out/away from object
	motor[leftMotor]= -50;
	motor[rightMotor] = 0;		//off
	wait1Msec(5000);

	//---here the right wheel goes in reverse so the bot "backs" out/away from object
	motor[leftMotor]= 0;				//off
	motor[rightMotor] = -50;
	wait1Msec(5000);

}

//NOW DO CHALLENGE 1.2 ZIG-ZAG