File content as of revision 1:7d54ee7806ed:

#include "main.h"
#include "const.h"


void Task_Bertl ::  LineFollow()
{
    while(1)
    {
        uint8_t val = GetLineValues();  
        NibbleLeds(val);

        if (val == 6)
        {
            Move();
        }
        if ((val == 1) || (val == 3) || (val == 7))
        {
            TurnLeftStep(1);
        }
        if ((val == 8) || (val == 12) || (val == 14))
        {
            TurnRigthStep(1);
        }
        if (val == 0)
        {
            break;
        }

        /*
        if (val == 9)
        {
            Move();
        }
        if ((val == 14) || (val == 12) || (val == 8) || (val == 13))
        {
            TurnLeftStep(1);
        }
        if ((val == 7) || (val == 3) || (val == 1))
        {
            TurnRigthStep(1);
        }
        if (val == 15)
        {
            break;
        }
        */
    }
}

void Task_Bertl :: LineSearch()
{
     uint8_t val = GetLineValues();  
     NibbleLeds(val);
    
    while(val != 9)
    {
        
        uint8_t val = GetLineValues();  
        NibbleLeds(val);
        
        TurnLeftStep(1);
        if (val == 9)
        {
            break;
        }
                
    }
}