robotics - Arduino Making Spiral -

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i have robot sweeper creating detects walls , turns when getting distance not hit. movements pretty random , device start out making small circle , growing larger one. seems getting stuck in 1 size circle maybe little growth. created multiple size circle functions not seem taking hold. ahead of time. no matter how small appreciated. 

#include<newping.h> #define motor_a 0  #define motor_b 1 #define trigger_pin 5 #define echo_pin 4 #define max_distance 200  #define cw 0  #define ccw 1   const byte pwma = 3;  const byte pwmb = 11;  const byte dira = 12;  const byte dirb = 13;   newping sonar (trigger_pin, echo_pin, max_distance);    void setup() {   // put setup code here, run once: setupardumoto();  }  void loop() {   delay(50);    unsigned int us= sonar.ping();    if(us/us_roundtrip_cm>50||us/us_roundtrip_cm==0)   {     forward();      curve();     //stopardumoto(motor_a);     // stopardumoto(motor_b);   }   else if(us/us_roundtrip_cm>=90)   {     smallercurve();   }   else if(us/us_roundtrip_cm>=110)  {    smallestcurve();  }   else if(us/us_roundtrip_cm<20)   {      //turnright(100);      delay(500);    }   // put main code here, run repeatedly:  } void driveardumoto(byte motor, byte dir, byte spd)  {   if(motor == motor_a)   {     digitalwrite(dira, dir);     analogwrite(pwma, spd);    }   else if(motor==motor_b)   {     digitalwrite(dirb,dir);      analogwrite(pwmb, spd);    } } void curve()  {  driveardumoto(motor_a, cw, 200);  driveardumoto(motor_b, cw, 150); } void smallercurve() {  driveardumoto(motor_a, cw, 200);  driveardumoto(motor_b, cw, 120); } void smallestcurve() {  driveardumoto(motor_a, cw, 200);  driveardumoto(motor_b, cw, 100); } void forward() {   driveardumoto(motor_a,cw,170);   driveardumoto(motor_b,cw,170);  }  void turnright(byte spd) {   stopardumoto(motor_b);    driveardumoto(motor_a,cw,250);  } void turnleft(byte spd)  {    stopardumoto(motor_a);     driveardumoto(motor_b,cw,250);  } void stopardumoto(byte motor) {     driveardumoto(motor, 0,0);  }  void setupardumoto() {    pinmode(pwma,output);    pinmode(pwmb,output);    pinmode(dira,output);    pinmode(dirb,output);      digitalwrite(pwma, low);    digitalwrite(pwmb, low);    digitalwrite(dira, low);    digitalwrite(dirb, low); }

it's late think code execute smallercurve(); or smallestcurve(); because if us/us_roundtrip_cm greater 50, code in first if execute , jump code us/us_roundtrip_cm >= 90 , us/us_roundtrip_cm >= 110 when between 0 , 20 execute different things. take care of else-if, once have executed 1 block of code in if jump on else, , first else take rest of code. in fact, compiler doesn't compile else's because unreacheable code.

and, moreover, can improve code simple things. careful function drive ardumoto , don't use frequently, forward won't have time move robot. use delay between movements.


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