void refresh_buffer(){
int i;
for(i=0; i<READINGS_BUFFER_SIZE;i++){
waitTick40ms();
refresh_sensorReadings(STATE_DEFAULT);
}
}
int main(void){
initPIC32();
closedLoopControl( false );
setVel2(0, 0); //Stop Engines
while(1){
printf("Press start to continue\n");
while(!startButton());
do{
waitTick40ms();
int ground = readLineSensors(0);
if(NEAR_LEFT_BLACK(ground))
setVel2(0, 50);
else if(NEAR_RIGHT_BLACK(ground))
setVel2(50, 0);
else if(FAR_LEFT_BLACK(ground))
setVel2(-50, 50);
else if (FAR_RIGHT_BLACK(ground))
setVel2(50, -50);
else if(GROUND_CENTER_BLACK(ground))
setVel2(55, 60);
else
setVel2(50, -50);
}while(!stopButton());
}
return 0;
}
