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help with code programming robot to drive in a rectangle using C

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Hi guys, so I have this project where I have to code a robot to drive around in a rectangle. Now, the problem is, I've had no experience in coding so I had to quickly learn the basics of C programming. I'm using a program called keil uvision 5 to code and a terminal called putty to see my values.
I just need some guidance in terms of coding this mini project. At the moment I've managed to code it to go in a rectangle however, I'm not too sure how to make it turn 90 degrees accurately. I'm...

help with code programming robot to drive in a rectangle using C

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