• First, test the code that I gave you.

• If the robot movement is wrong, you can adjust the code step by step.

• Follow the guide below to know which line needs to be changed.

Step 1: Fix reversed motor direction

• Edit lines 29–32:

  

• If all forward movements become reverse, set all to true.

• If only the right side is reversed, set REV_M3 = true and REV_M4 = true.

• If only the left side is reversed, set REV_M1 = true and REV_M2 = true.

Step 2: Fix reversed left/right turning

• Try Step 1 first.

• If the turning is still reversed, edit lines 109–114:

  

  
  

Step 3: Fix reversed servo left/right scanning

• Edit lines 50–51 by swapping the values:

Step 4: If the servo scan is too fast

• Edit lines 50–51 and reduce the scan range.

• Edit line 53 and increase the waiting time.

Example:

const unsigned long SCAN_SETTLE_MS = 5000;

• By changing the value 5000 to another number, you can control how long the servo and ultrasonic sensor stay and detect at the front, left, and right.

• A higher value makes the detection slower and longer.

• A lower value makes the detection faster and shorter.