| ... | ... | @@ -41,7 +41,7 @@ As prescribed in the lesson plan, we modified ***AvoidFigure9_3.java*** [5] to m |
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We tried changing the program by making the robot drive backwards a little when encountering an obstacle, check if it was a corner and then spin around 180 degrees (by making one motor drive forward and the other drive backwards). Initially we made the robot perform the 180 turn for 1 second (1000 ms), which wasn't enough, but when we changed it to 2 seconds (2000 ms) it spun approximately 180 degrees. This behavior can be seen in video 2 where the robot turn 180 degrees when measuring a low distance in all three checks, but not when only measuring a low distance in some.
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[](https://www.youtube.com/watch?v=Um4zjVYArJ0)
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*Video 2: The robot performing a 180 degree turn when encountering a corner (approximately TODO seconds in)*
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*Video 2: The robot performing a 180 degree turn when encountering a corner (approximately 6 seconds in)*
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### Observing the Avoid, Follow and Cruise behaviors
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