Dependents: MouseHybridSenseCode
Diff: findLineFunc.cpp
- Revision:
- 5:dfea493f7a12
- Child:
- 6:a652deaae134
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/findLineFunc.cpp Sun Mar 11 13:15:34 2018 +0000
@@ -0,0 +1,18 @@
+#include <mbed.h>
+#include <funcdef.h>
+
+void findLineFunc()
+{
+ //TURN RIGHT UNTIL SENSOR A6, POSITION 6, BEATS THERSHOLD
+ while (((sensorPin[6]).read_u16()>>4) < (sensorThreshold[6]))
+ {
+ //LEFT WHEEL STARTS TURN
+ leftMotorVal.pulsewidth_us(300);
+ rightMotorVal.pulsewidth_us(0);
+ }
+ //CONTINUE FOR A BIT, THEN STOP MOTORS AND RETURN
+ wait_ms(100);
+ leftMotorVal.pulsewidth_us(0);
+ rightMotorVal.pulsewidth_us(0);
+ return;
+}
\ No newline at end of file