Diff: main.cpp

Revision:

0:eb1ece444e15

Child:

1:5ddd3faed06d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 01 23:16:57 2010 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+BusOut leds(LED1,LED2,LED3,LED4);
+m3pi pi (p27,p9,p10); //nRST, TX, RX
+
+int main() {
+
+    pi.locate(0,1);
+    pi.printf("Line Flw");
+
+    float position_of_line = 0.0;
+
+    pi.sensor_auto_calibrate();
+    float speed = 0.4;
+
+    while (1) {
+        
+        // -1.0 is far left, 1.0 is far right
+        position_of_line = pi.line_position();
+        
+        // Line is more than 75% to the left
+        if (position_of_line < -0.25) {
+            pi.left_motor(speed + 0.3);
+            pi.right_motor(speed - 0.3);
+            leds = 0xc;
+        } 
+        // Line is more than 25% to the left
+        else if (position_of_line < -0.10) {
+            pi.left_motor(speed);
+            pi.right_motor(speed - 0.3);
+            leds = 0x4;
+        } 
+        // Line is more than 75% to the right
+        else if (position_of_line > 0.25) {
+            pi.right_motor(speed + 0.3);
+            pi.left_motor(speed - 0.3);            
+            leds = 0x3;
+        } 
+        // Line is more than 75% to the right        
+        else if (position_of_line > 0.10) {
+            pi.right_motor(speed);
+            pi.left_motor(speed - 0.3);
+            leds = 0x2;
+        } 
+        // Line is inthe middle        
+        else {
+            pi.forward(speed);
+            leds = 0x0;
+        }
+
+    }
+
+}
\ No newline at end of file