CS2508: Walking Robot program in Interactive C

walking_robot.ic

#define HALF_STEP 240L
#define STEP      400L
#define Q_STEP    120L

void main() { 
    
    right_fd( HALF_STEP );
    left_bk( HALF_STEP );
    msleep(100L);
    
    step();
    step();
    step();
      step();
    step();
    step();
    
    msleep(100L);
    right_bk( HALF_STEP );
    left_fd( HALF_STEP );
    
    
    
}

void step() {
    int first, second;
    
    second = start_process( left_fd( STEP ) );
    first = start_process( right_bk( STEP ) );
    
    msleep(500L);
    kill_process( first );
    kill_process( second  );
    
    first = start_process( right_fd( STEP ) );
    second = start_process( left_bk( STEP ) );
    msleep(500L);
    kill_process( first );
    kill_process( second  );
    
}

void right_fd(long step) {
    fd(0);
    msleep(step);
    off(0);   
}

void left_fd(long step) {
    fd(3);
    msleep(step);
    off(3);   
}

void right_bk(long step) {
    bk(0);
    msleep(step);
    off(0);   
}

void left_bk(long step) {
    bk(3);
    msleep(step);
    off(3);   
}

Half step is too long

rps = rotations per second

50 rps ---worm gear---> one tooth of the 24 gear per rotation = 50/24 = 2.08 rps ---8 gear---> 2.08*3 = 6.24 rps ---24 gear--->6.24 /3 = 2.08 --- 18 gear ---> 2.08 *1.33 = 2.76
rps

1 rot of 18 gear = 1.8 length of beam => 1 length of beam = 1/1.8 rotations = 0.55 rotations

2.76/0.55 = 5.01 => need 1/5.03 second for length of beam = 0.2 seconds

8-->24 rot/3
24-->18 rot*24/18 = rot * 1.33
overall ratio 1.33/3 = 0.4 slow down

borrowed black chain from another group