#include<iostream>
#include<string>
#include"eyebot++.h"
#include"maze_parameter.h"
#include"maze_func.h"
using namespace std;


void BOTturn(int turn)
{
    if (turn == -1)  //右转
    {
        ENCODERReset(1);
        ENCODERReset(2);
        do 
		{
			MOTORDriveRaw(1,20);
			MOTORDriveRaw(2,-18);
            
		} while (abs(ENCODERRead(2)) < 240);
        
		MOTORDriveRaw(1,0);
		MOTORDriveRaw(2,0);
    }
    else if (turn == 1)    //左转
    {
        ENCODERReset(1);
		ENCODERReset(2);
		do 
		{
			MOTORDriveRaw(1,-20);
			MOTORDriveRaw(2,18);

		} while (abs(ENCODERRead(2)) < 240);
		
		MOTORDriveRaw(1,0);
		MOTORDriveRaw(2,0);
	}
    else if (turn == 2)     //掉头
    {
        ENCODERReset(1);
		ENCODERReset(2);
		do 
		{
			MOTORDriveRaw(1,20);
			MOTORDriveRaw(2,-18);
		
		} while (abs(ENCODERRead(2)) < 550);
		MOTORDriveRaw(1,0);
		MOTORDriveRaw(2,0);
		//~ speed_r = speed_l - Kpid_speed;
    }
    else 
    {
        cout << "errer" << endl;
    }
}