DON'T COPY OTHER ANSWERS THAT ARE ALREADY HERE IN CHEGG. HIGHLIGHT THE PART OF THE CODE YOU CHANGED. I'LL UPVOTE.

Reference the tutorial DIY 4-DOF Robot Kit-Sloth User Manuel, and the code, in Code ->simple-robot ->simple_robot, to answer the question here.

As the code is copied here, please change it to make the robot go backward first, and then forward. Please highlight the code changed using your favorite color in the word processor.

#include "VarSpeedServo.h" //include the VarSpeedServo library

#include //include the NewPing library

//#include

VarSpeedServo RU; //Right Upper

VarSpeedServo RL; //Right Lower

VarSpeedServo LU; //Left Upper

VarSpeedServo LL; //Left Lower

NewPing sonar(4,3,200);

//vel(min), delay_Forward(max) = (5, 2000)

const int vel = 20, vel_Back = 10; //vel(mid), delay_Forward(mid) = (20, 750)

const int delay_Forward = 750, delay_Back = 1000; //vel(max), delay_Forward(min)= (256, 50)

//wonderful ---> (10, 700) (50, 500) (100, 100) (100, 300) (100, 500)

const int array_cal[4] = {90,90,90,90};

int RU_Degree = 0, LU_Degree = array_cal[2] + 5;

const int num1 = 6;

const int array_forward[num1][4] =

{

{0,-40,0,-20},

{30,-40,30,-20},

{30,0,30,0},

{0,20,0,40},

{-30,20,-30,40},

{-30,0,-30,0},

};

const int num2 = 5;

const int array_turn[num2][4] =

{

{-40,0,-20,0},

{-40,30,-20,30},

{0,30,0,30},

{30,0,30,0},

{0,0,0,0},

};

//#define INSTALL

//#define CALIBRATION

#define RUN

void Servo_Init()

{

RU.attach(9); // Connect the signal wire of the upper-right servo to pin 9

RL.attach(10); // Connect the signal wire of the lower-right servo to pin 10

LU.attach(11); // Connect the signal wire of the upper-left servo to pin 11

LL.attach(12); // Connect the signal wire of the lower-left servo to pin 12

}

void Adjust() // Avoid the servo's fast spinning in initialization

{ // RU,LU goes from array_cal[0] - 5 ,array_cal[2] + 5 degrees to array_cal[0],array_cal[2] degrees

for(RU_Degree = array_cal[0] - 5; RU_Degree <= array_cal[0]; RU_Degree += 1) {

RU.write(RU_Degree); // in steps of 1 degree

LU.write(LU_Degree--); // tell servo to go to RU_Degreeition, LU_Degreeition in variable 'RU_Degree', 'LU_Degree'

delay(15); // waits 15ms for the servo to reach the RU_Degreeition

}

}

bool TooClose()

{

int tooclose = 0;

for(int a=0; a<5; a++) {

delay(50);

int din = sonar.ping_in();

if (din < 7 && din > 0) tooclose++;

}

if (tooclose < 5) return 1;

return 0;

}

void Forward()

{

for(int x=0; x

RU.slowmove (array_cal[0] + array_forward[x][0] , vel);

RL.slowmove (array_cal[1] + array_forward[x][1] , vel);

LU.slowmove (array_cal[2] + array_forward[x][2] , vel);

LL.slowmove (array_cal[3] + array_forward[x][3] , vel);

delay(delay_Forward);

}

}

void Backward()

{

for(int z=0; z<4; z++) {

for(int y=0; y

RU.slowmove (array_cal[0] + array_turn[y][0] , vel_Back);

RL.slowmove (array_cal[1] + array_turn[y][1] , vel_Back);

LU.slowmove (array_cal[2] + array_turn[y][2] , vel_Back);

LL.slowmove (array_cal[3] + array_turn[y][3] , vel_Back);

delay(delay_Back);

}

}

}

void setup()

{

#ifdef INSTALL

Servo_Init();

RU.slowmove (90 , vel);

RL.slowmove (90 , vel);

LU.slowmove (90 , vel);

LL.slowmove (90 , vel);

while(1);

#endif

#ifdef CALIBRATION

Servo_Init();

Adjust();

RL.slowmove (array_cal[1] , vel);

LL.slowmove (array_cal[3] , vel);

delay(2000);

while(1);

#endif

#ifdef RUN

Servo_Init();

Adjust();

RL.slowmove (array_cal[1] , vel);

LL.slowmove (array_cal[3] , vel);

delay(2000);

#endif

}

void loop()

{

while(TooClose()) Forward();

Backward();

}

Please change the code above, and color the changed part