Main Function:

goStright(120);

Helpful Higher Function:

int calculateCounts(int x){

int result;

result = x / (2*3.14*1.25)*4;

return result;

}

int goToForward(int distance){

motorSpeed(4,45);

int n = getForwardCounts();

int c =calculateCounts(distance);

int d = 0;

int t =0;

while(d< c){

pauseFor(1);

t++;

d = getForwardCounts()-n;

}

return t;

}

void goToBackward(int distance){

motorSpeed(4,-45);

int n = getBackwardCounts();

int c =-calculateCounts(distance);

int d = 0;

while(d> c){

pauseFor(1);

d = getBackwardCounts()-n;

}

// Stop all motors

motorSpeed(4,0);

}

void goStright(int distance){

int t = goToForward(distance);

motorSpeed(4,0);

pauseFor(4);

motorSpeed(4,-60);

pauseFor(t);

motorSpeed(4,0);

pauseFor(4);

}

void goRound(int distance){

int t = goToForward(distance);

// motorSpeed(4,0);

// pauseFor(2);

motorSpeed(4,-60);

pauseFor(1);

motorSpeed(4,-60);

pauseFor(t);

motorSpeed(4,0);

pauseFor(2);

motorSpeed(4,15);

pauseFor(2);

motorSpeed(4,0);

pauseFor(2);

}