Robot Mission 1

// Mission 1 
const motorL = ev3_motorA(); // A port
const motorR = ev3_motorD(); // D port
display(ev3_connected(motorL) ? "L connected" : "L not connected");
display(ev3_connected(motorR) ? "R connected" : "R not connected");

// Q1
function speak(words) {
    return ev3_speak(words);
}

// speak("I am human");
// ok works

// Q2
//circum of wheel: 6 pi

function move_forward(length) { // length, in cm 
    const speed = 100;
    const pos = length/(6 * math_PI) * 360; // pos (in deg): degree turned by wheel 
    // const time = 1 * 1000; 
    const time = math_abs(pos/speed) * 1000; // time (in ms): pos(deg), speed(degree/second)
                                      //math_abs to keep time always positive 
    // doc: ev3_runToRelativePosition(motor, position, speed);
    ev3_runToRelativePosition(motorL, pos, speed);
    ev3_runToRelativePosition(motorR, pos, speed);
    
    return ev3_pause(time); // do we need a return value?
}

// move_forward(-10); // 10cm



// Q3
function turn(deg) { // clockwise
    const speed = 100;
    const time = math_abs(deg * 2/ speed) * 1000;
    ev3_runToRelativePosition(motorL, deg * 2, speed);
    ev3_runToRelativePosition(motorR, - (deg * 2), speed);
    return ev3_pause(time);
}

const turn_left = () => turn(90); // makes it a function instead of funct call
const turn_right = () => turn(-90);

// Q4
function mission1_q4() {
    move_forward(10);
    turn_left();
    move_forward(5);
    turn_right();
    move_forward(15);
} 

mission1_q4();

/* ATTENDANCE CHECK
PRATEEK
yijie
hazel 
clemen
Hari
jiesheng
zele
James
*/