int searchSpot() {
//menelusuri garis hitam sampai menemukan "color"
int hue;
int colortemp;
int threshold = 65;
resetGyro(gyroSensor);
moveMotorTarget(leftMotor,360,100);
moveMotorTarget(rightMotor,360,100);
while(getMotorMoving(leftMotor)||getMotorMoving(rightMotor))
sleep(1);
while(1)
{
// sensor sees light:
if(getColorReflected(colorSensor) < threshold)
{
// counter-steer right:
motor[leftMotor] = 55;
motor[rightMotor] = 15;
}
// sensor sees dark:
else
{
// counter-steer left:
motor[leftMotor] = 15;
motor[rightMotor] = 55;
}
hue=getColorHue(colorSensor);
if(hue==99 || hue==253) {
colortemp=hue==99?green:red;
break;
}
}
return colortemp;
}
void turnLeft(){
moveMotorTarget(leftMotor,-220,200);
moveMotorTarget(rightMotor,220,200);
while ( getMotorMoving(leftMotor) || getMotorMoving(rightMotor) ) {
sleep(1);
}
}
void moveForward(int degree){
moveMotorTarget(leftMotor,degree,50);
moveMotorTarget(rightMotor,degree,50);
while ( getMotorMoving(leftMotor) || getMotorMoving(rightMotor) ) {
sleep(1);
}
}
void stepAhead(int degree) {
//maju degree derajat putaran roda
moveMotorTarget(leftMotor,degree,50);
moveMotorTarget(rightMotor,degree,50);
while(getMotorMoving(leftMotor)||getMotorMoving(rightMotor)) {
sleep(1);
}
}
void turnBack(){
resetGyro(gyroSensor);
moveMotorTarget(leftMotor,447,100);
moveMotorTarget(rightMotor,-447,100);
while ( getMotorMoving(leftMotor) || getMotorMoving(rightMotor) ) {
sleep(1);
}
}
void turn(int direction,int degree) {
//berbelok ke arah "direction", sebesar "degree"
int rightpower=direction==right?-71:71;
moveMotorTarget(leftMotor,degree,-rightpower);
moveMotorTarget(rightMotor,-degree,rightpower);
while(getMotorMoving(leftMotor) || getMotorMoving(rightMotor)) {
sleep(1);
}
}
void turn(int dir,int deg,int lmot,int rmot) {
//berbelok ke arah "dir", sebesar "deg" derajat
resetGyro(gyroSensor);
setMotorSpeed(leftMotor,lmot);
setMotorSpeed(rightMotor,rmot);
while(getMotorMoving(leftMotor) || getMotorMoving(rightMotor)) {
sleep(1);
if((getGyroDegrees(gyroSensor)<deg && dir==left)
||(getGyroDegrees(gyroSensor)>deg && dir==right))
break;
}
}
int cekLine(int dir,int deg,int lmot,int rmot) {
//mengembalikan 1 jika menemukan garis
int threshold = 65;
resetGyro(gyroSensor);
setMotorSpeed(leftMotor,lmot);
setMotorSpeed(rightMotor,rmot);
while(getMotorMoving(leftMotor) || getMotorMoving(rightMotor)) {
sleep(1);
if(getColorReflected(colorSensor) < threshold)
return 1;
else if((getGyroDegrees(gyroSensor)<deg && dir==left)
||(getGyroDegrees(gyroSensor)>deg && dir==right))
break;
}
return 0;
}
int checkLine(int dir) {
int a,degmax=0;
int incdegree=dir==right?10:-10;
int rightpower=dir==right?-50:50;
int rightdegree=dir==right?-10:10;
while((degmax<2300&&dir==right) || (degmax>-2300&&dir==left)) {
a=check_color();
switch(a) {
case 0:
moveMotorTarget(leftMotor,-rightdegree,-rightpower);
moveMotorTarget(rightMotor,rightdegree,rightpower);
while(getMotorMoving(leftMotor) && getMotorMoving(rightMotor))
sleep(1);
degmax+=incdegree;
break;
case 1:
motor[leftMotor]=0;
motor[rightMotor]=0;
sleep(100);
return 1;
}
}
}
int searchSpot() {
//menelusuri garis hitam sampai menemukan "color"
int a;
while(1)
{
a=check_color();
switch(a){
case 0: //Putih_Arena -> Belok Kanan
motor[leftMotor] = 15;
motor[rightMotor] = 55;
break;
case 1: //Hitam_Garis -> Belok Kiri
motor[leftMotor] = 55;
motor[rightMotor] = 15;
break;
case 3: //Ijo_Simpang -> diem
//moveMotorTarget(leftMotor,180,50);
//moveMotorTarget(rightMotor,-180,-50);
motor[leftMotor] =0;
motor[rightMotor] =0;
sleep(10);
while(getMotorMoving(leftMotor) && getMotorMoving(rightMotor))
sleep(1);
break;
case 4: //Merah_ujung -> Balik kanan
motor[leftMotor] = 100;
motor[rightMotor] = -100;
sleep(500);
break;
default:
//motor[leftMotor] = 0;
//motor[rightMotor] = 0;
}
}
return a;
}
