// Program for running Mr. Abot along a strait line Nils Kr. Rossing 10.04.2014

#include <Servo.h> 
 
Servo myleftservo;            // Definer venstre servomotor 
Servo myrightservo;           // Definer høyre servomotor 

int right_start_point = 1550; // Value where the right servo start running
int left_start_point = 1450;  // Value where the left servo start running
int right_speed = 200;         // Right servo speed forward
int left_speed = 200;          // Left servo speed forward
float running_time = 5000;    // Running time i msek

void setup() 
{ 
  pinMode(11, OUTPUT);
  pinMode(12, OUTPUT);

  myleftservo.attach(11);     // Attaches the left servo on pin 12 to the servo object 
  myrightservo.attach(12);     // Attaches the right servo on pin 13 to the servo object 
} 

 
void loop() 
{
 
  myleftservo.writeMicroseconds(1500);                             // set left servo to move forward
  myrightservo.writeMicroseconds(1500);                            // set left servo to move forward
  
  delay(2000);                                                     // Start running after 2000 msek.
  
  myrightservo.writeMicroseconds(right_start_point + right_speed); // Set right servo to move forward
  myleftservo.writeMicroseconds(left_start_point - left_speed);    // Set left servo to move forward
  
  delay(running_time);                                             // Set running time.
  
  myleftservo.writeMicroseconds(1500);                             // Set left servo to stop
  myrightservo.writeMicroseconds(1500);                            // Set right servo to stop
  
  while(true);                                                     // Stop running the program
  
}