text: /*
   * Code to perform various types of turns.  The delays here had to be
   * calibrated for the 3pi's motors.
   */
  
  #include <pololu/3pi.h>
  
  // Turns according to the parameter dir, which should be 'L', 'R', 'S'
  // (straight), or 'B' (back).
  void turn(char dir)
  {
  	switch(dir)
  	{
  	case 'L':
  		// Turn left.
  		set_motors(-80,80);
  		delay_ms(200);
  		break;
  	case 'R':
  		// Turn right.
  		set_motors(80,-80);
  		delay_ms(200);
  		break;
  	case 'B':
  		// Turn around.
  		set_motors(80,-80);
  		delay_ms(400);
  		break;
  	case 'S':
  		// Don't do anything!
  		break;
  	}
  }
  
  // Local Variables: **
  // mode: C **
  // c-basic-offset: 4 **
  // tab-width: 4 **
  // indent-tabs-mode: t **
  // end: **
  