void loop(){
if(move){
detectLine();
keepDistance();
adjustMotor(min(motorLine_l,motorDist_l),min(motorLine_r,motorDist_r));
measureDistance();
}
else
{
detectAlone();
}
}
unsigned long LUltrasonic::measureDistance3() {
unsigned long measures[3];
int i = 0;
do {
unsigned long distance = measureDistance();
if (distance <= MAX_MEASUREABLE_DISTANCE) {
measures[i++] = distance;
}
delay(2);
} while (i < 3);
return min((measures[0] + measures[1]) / 2, min((measures[1] + measures[2]) / 2, (measures[0] + measures[2]) / 2));
}
void loop()
{
digitalWrite(PIN_LEDRED, HIGH);
digitalWrite(PIN_LEDGREEN, LOW);
measureTemperature();
delay(250);
measureMagnetism();
delay(250);
measureDistance();
delay(250);
digitalWrite(PIN_LEDRED, LOW);
digitalWrite(PIN_LEDGREEN, HIGH);
delay(25);
}
int findNeighbor(int obs, int k) {
int i, j, temp, neighbor;
int obs2 = (obs < 0)? -(1 + obs) : obs;
double dist, min = INFTY;
neighbor = 0;
for (i = k; i < ct.n; i++) {
j = ct.sorts[0][i];
temp = (j < 0)? -(1 + j) : j;
if (ct.treatment[temp] != ct.treatment[obs2]) {
dist = measureDistance(obs2, temp);
if (dist < min) {
neighbor = j;
min = dist;
}
}
}
return neighbor;
}