task main()
{
while (true)
{
if (getIrReading(leftIR) == 0 || getIrReading(rightIR) == 0) {
//there is something within the threshold range
motor[leftServo] = -15;
motor[rightServo] = 15;
wait1Msec(400);
} else {
//nothing in the threshold range
motor[leftServo] = 15;
motor[rightServo] = 15;
}
}
}
void faceIR(tSensors ir_seeker)
{
int ir_value = getIrReading(IR);
do
{
if(ir_value < 2)
{
leftTurn(50);
}
else if(ir_value > 2)
{
rightTurn(50);
}
wait1Msec(1);
ir_value = getIrReading(IR);
}
while(ir_value != 2);
}