Diff: main.cpp

Revision:

11:055ee1a3cb75

Parent:

10:57a0c57cabac

Child:

12:8ae6609a66bf

--- a/main.cpp	Sun Oct 16 18:03:21 2016 +0000
+++ b/main.cpp	Fri Oct 21 10:30:20 2016 +0000
@@ -2,6 +2,8 @@
 #include "Servo.h"
 
 #define DISTANCE 0.45
+#define VBORDER 0.5    //VBORDER being the LDR voltage value when going from the black line to the white surface and vice versa
+
 
 
 Serial pc (USBTX, USBRX); // USB serial interface
@@ -28,8 +30,8 @@
     float front;
     float left;
 //    float right;
-//    float LDRvalueleft;
-//    float LDRvalueright;
+    float LDRvalueleft;
+    float LDRvalueright;
 
      // set the USB serial interface baud rate
      pc.baud(921600);
@@ -41,11 +43,11 @@
     front = IRfront.read();
     left  = IRleft.read();
 //    right = IRright.read();
-//    LDRvalueright = LDRright.read();
-//    LDRvalueleft = LDRleft.read();       //output voltage of the LDR used for line following feature
+    LDRvalueright = LDRright.read();
+    LDRvalueleft = LDRleft.read();       //output voltage of the LDR used for line following feature
     
    /*****************************************************************************
-   / if (front > DISTANCE) {           Collision avoidance system only,the robot will move away from an obstacle/wall if getting to close to it
+   / if (front > DISTANCE) {           Collision avoidance system only,the robot will move away from an obstacle/wall if getting to close to it, backup program if the following doesn't work
     /    if (left > DISTANCE) {
     /        ServoRight.write(0.5);   //turn right
     /        ServoLeft.write(0.4);
@@ -110,6 +112,22 @@
            }
     else if (front < DISTANCE) {
      //follow line
+        if (LDRvalueright < VBORDER && LDRvalueleft > VBORDER){
+            // turn right
+        
+            }
+        if (LDRvalueright > VBORDER && LDRvalueleft < VBORDER){
+            //turn left   
+        
+            }
+        if LDRvalueright = VBORDER && LDRvalueright = VBORDER) {
+            //go straight
+            
+            }
+        
+        
+        
+          
      }      
 }
 }
\ No newline at end of file