From f624cbf684a41a3605a264f479c722ebf59d3575 Mon Sep 17 00:00:00 2001
From: davidskeck <dstevenkeck@gmail.com>
Date: Thu, 24 Apr 2014 12:43:16 -0500
Subject: [PATCH] Edited constants and required turn method to accept input for
 turn durations. v1.0.1

---
 libraries/CurioDuinoNav/CurioDuinoNav.cpp | 8 ++++----
 libraries/CurioDuinoNav/CurioDuinoNav.h   | 7 ++++---
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/libraries/CurioDuinoNav/CurioDuinoNav.cpp b/libraries/CurioDuinoNav/CurioDuinoNav.cpp
index 99b9452..36e930f 100644
--- a/libraries/CurioDuinoNav/CurioDuinoNav.cpp
+++ b/libraries/CurioDuinoNav/CurioDuinoNav.cpp
@@ -18,16 +18,16 @@ void CurioDuinoNav::begin()
   forwardSpeed = 0;
 }
 
-void CurioDuinoNav::turnLeft()
+void CurioDuinoNav::turnLeft(int turnDuration)
 {
   motors.setSpeeds(-TURN_SPEED, TURN_SPEED);
-  delay(TURN_DURATION);
+  delay(turnDuration);
 }
 
-void CurioDuinoNav::turnRight()
+void CurioDuinoNav::turnRight(int turnDuration)
 {
   motors.setSpeeds(TURN_SPEED, -TURN_SPEED);
-  delay(TURN_DURATION);
+  delay(turnDuration);
 }
 
 void CurioDuinoNav::goForward()
diff --git a/libraries/CurioDuinoNav/CurioDuinoNav.h b/libraries/CurioDuinoNav/CurioDuinoNav.h
index 20c6c31..828a35a 100644
--- a/libraries/CurioDuinoNav/CurioDuinoNav.h
+++ b/libraries/CurioDuinoNav/CurioDuinoNav.h
@@ -23,7 +23,8 @@ class ZumoMotors;
 
 // Duration of movements
 #define REVERSE_DURATION  750 // ms
-#define TURN_DURATION  400
+#define EDGE_TURN_DURATION  440
+#define OBSTACLE_TURN_DURATION 340
 
 class CurioDuinoNav
 {
@@ -36,8 +37,8 @@ class CurioDuinoNav
 	// because Arduino constructors
 	// are not advised.
 	void begin();
-	void turnRight();
-	void turnLeft();
+	void turnRight(int turnDuration);
+	void turnLeft(int turnDuration);
 	void goForward();
 	void goReverse();
 	void stopMoving();