File content as of revision 6:6865930c1135:

#include "mbed.h"
#include "m3pi.h"

//Mikkel har været her
m3pi m3pi;

// Minimum and maximum motor speeds
#define MAX 1.0
#define MIN 0

// PID terms
#define P_TERM 1
#define I_TERM 0
#define D_TERM 20

// Tresholds 
#define BATVOLTRESHOLD 3.0

int main() {
    
    m3pi.sensor_auto_calibrate();
    
    /*Base program Variable initiation*/
    float right;
    float left;
    float current_pos_of_line = 0.0;
    float previous_pos_of_line = 0.0;
    float derivative,proportional,integral = 0;
    float power;
    float speed = MAX;

    /*Team 7 Variabels*/
    float batVol = m3pi.battery();  //Storing battery voltage in variable
    float potVol = m3pi.pot_voltage();  //Storing pot voltage
    int gotopit = 0; // variabel storing weather or not the robot is heading to pit
    
    /*Digital outs*/
    DigitalOut led1(LED1);
    
    
    /*Printing secret cat mission*/
    m3pi.cls();
    
    m3pi.locate(0,0);
    m3pi.printf("eliminate");
    m3pi.locate(0,1);
    m3pi.printf("all cats");
    wait(200.0);
    
    m3pi.cls();
    m3pi.locate(0,0);
    m3pi.printf("%f.3 ",batVol);
    m3pi.locate(0,1);
    m3pi.printf("%f.3 ",b);
    wait(200.0);
    m3pi.cls();

    /*Inital state*/
    led1 = 0; // Turn off led 1 on the embed
    
    while (1) {
        
        /* Test the batteri voltage if the robot is not headed for pit */
        if (gotopit == 0) {
            /*Sets the battery voltage to the current voltage of the battery*/
            batVol = battery ();
            
            if batteryVoltage <= BATVOLTRESHOLD (){  
                gotopit = 1; // set goto pit condition
                led1 = 1; // trun on Led 1
            }
        
        // Get the position of the line.
        current_pos_of_line = m3pi.line_position();        
        proportional = current_pos_of_line;
        
        // Compute the derivative
        derivative = current_pos_of_line - previous_pos_of_line;
        
        // Compute the integral
        integral += proportional;
        
        // Remember the last position.
        previous_pos_of_line = current_pos_of_line;
        
        // Compute the power
        power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ;
        
        // Compute new speeds   
        right = speed+power;
        left  = speed-power;
        
        // limit checks
        if (right < MIN)
            right = MIN;
        else if (right > MAX)
            right = MAX;
            
        if (left < MIN)
            left = MIN;
        else if (left > MAX)
            left = MAX;
            
       // set speed 
        m3pi.left_motor(left);
        m3pi.right_motor(right);
        
        

    }
}