// line following function (black line on white ground)
void stayOnTrack (int PWR) // PWR is the desired power for the motors
{
setMotor(MOTOR_A, -PWR);
setMotor(MOTOR_B, PWR);
LEDnum(0);
while(getSensor(BUMPER) == 0) // make sure it hasn't crashed
{
//Both sensors detect white -> Go straight
while (getSensor(REFLECT_1) >= 200 && getSensor(REFLECT_2) >= 200
&& getSensor(BUMPER) == 0)
{
setMotor(MOTOR_A, -PWR);
setMotor(MOTOR_B, PWR);
LEDnum(7);
}
//REFLECT_1 detects black, REFLECT_2 detects white -> Pivot right
if (getSensor(REFLECT_1) < 200 && getSensor(REFLECT_2) >= 200)
{
setMotor(MOTOR_A, PWR);
setMotor(MOTOR_B, PWR);
LEDnum(1);
}
//REFLECT_1 detects white, REFLECT_2 detects black -> Turn left
if (getSensor(REFLECT_1) >= 200 && getSensor(REFLECT_2) < 200)
{
setMotor(MOTOR_A, -PWR);
setMotor(MOTOR_B, PWR / 1.5);
LEDnum(0);
}
//Both detect black -> Pivot Right
if(getSensor(REFLECT_1) < 200 && getSensor(REFLECT_2) < 200)
{
setMotor(MOTOR_A, PWR);
setMotor(MOTOR_B, PWR);
}
wait1Msec(10);
}
}
void main (void)
{
initialize();
wait1Msec(200);
//initialize values
int pwr = 15;
int sensorState = -1;
//determine these values by running the calibration program first
int threshold1 = 150;
int threshold2 = 150;
int delay = 10;
//initialize motors and LED indicators
setMotor (MOTOR_A, 0);
setMotor (MOTOR_B, 0);
LEDnum(0);
LEDoff(RED_LED);
LEDoff(GREEN_LED);
//waits for a button press
while(getSensor(BUTTON) == 0);
wait1Msec(100);
while(getSensor(BUTTON) == 1);
resetTimer();
while(getSensor(BUTTON)== 0 && time100() < 64) {
//line follows for 6.4 seconds
if (sensorState != getSensorState(threshold1, threshold2)) {
//only change direction if conditions are different than before.
sensorState = getSensorState(threshold1,threshold2);
if (sensorState == 0) { //go straight
drive(15, delay);
} else if (sensorState == 1){
rightTurn(15,delay);
} else if (sensorState == 2){
leftTurn(15, delay);
} else if (sensorState == 3){
rightTurn(15, delay);
}
}
}
//hard code exit 2
rightTurn(pwr,2400);
drive(pwr,9400);
leftTurn(pwr,1500);
drive(pwr,20000);
}
void main()
{
initialize();
while (getSensor(BUTTON) != 1){}
wait1Msec(200);
while (getSensor(BUTTON) != 0){}
LEDon(RED_LED);
LEDoff(GREEN_LED);
for (int i = 0; i < 8; i++)
{
LEDnum(i);
wait1Msec(500);
}
}
void main()
{
initialize();
wait1Sec(2);
LEDon(RED_LED);
LEDoff(GREEN_LED);
LEDnum(3);
volatile int x = 0;
while (getSensor(BUTTON) != 1){}
wait1Msec(200);
while (getSensor(BUTTON) != 0){}
LEDon(GREEN_LED);
LEDoff(RED_LED);
LEDnum(3);
while (getSensor(BUMPER) != 1)
{
if (getSensor(REFLECT_2) <0)
LEDnum(0);
else if (getSensor(REFLECT_2)<75)
{
LEDnum(1);
setMotor(MOTOR_A, 10);
}
else if (getSensor(REFLECT_2)<150)
LEDnum(2);
else if (getSensor(REFLECT_2)<175)
LEDnum(3);
else if (getSensor(REFLECT_2)<200)
LEDnum(4);
else if (getSensor(REFLECT_2)<250)
LEDnum(5);
else if (getSensor(REFLECT_2)<300)
LEDnum(6);
else if (getSensor(REFLECT_2)>300)
LEDnum(7);
}
wait1Msec(200);
while (getSensor(BUMPER) != 0);
wait1Msec(200);
while (getSensor(BUMPER) != 1)
{
if (getSensor(REFLECT_1) <0)
LEDnum(0);
else if (getSensor(REFLECT_1)<75)
LEDnum(1);
else if (getSensor(REFLECT_1)<150)
LEDnum(2);
else if (getSensor(REFLECT_1)<175)
LEDnum(3);
else if (getSensor(REFLECT_1)<200)
LEDnum(4);
else if (getSensor(REFLECT_1)<250)
LEDnum(5);
else if (getSensor(REFLECT_1)<300)
LEDnum(6);
else if (getSensor(REFLECT_1)>300)
LEDnum(7);
}
wait1Msec(200);
while (getSensor(BUMPER) != 0);
}
