Diff: main.cpp

Revision:

12:8ae6609a66bf

Parent:

11:055ee1a3cb75

Child:

13:bdb92f041eca

--- a/main.cpp	Fri Oct 21 10:30:20 2016 +0000
+++ b/main.cpp	Fri Oct 28 09:10:58 2016 +0000
@@ -2,7 +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
+#define VBORDER1 0.7    //VBORDER being the LDR voltage value when going from the black line to the white surface and vice versa, assume >0.7 is white surfce
+#define VBORDER2 0.3    // assume black surface <0.3
 
 
 
@@ -112,15 +113,15 @@
            }
     else if (front < DISTANCE) {
      //follow line
-        if (LDRvalueright < VBORDER && LDRvalueleft > VBORDER){
+        if (LDRvalueright < VBORDER2 && LDRvalueleft > VBORDER1){ //ldr right is in the black and ldr left is in the white then turn right
             // turn right
         
             }
-        if (LDRvalueright > VBORDER && LDRvalueleft < VBORDER){
+        if (LDRvalueright > VBORDER1 && LDRvalueleft < VBORDER2){   //ldr right is in the white and ldr left is in the black
             //turn left   
         
             }
-        if LDRvalueright = VBORDER && LDRvalueright = VBORDER) {
+        if LDRvalueright < VBORDER2 && LDRvalueleft < VBORDER2) {    //both ldr right and ldr left are in the black, continue ahead
             //go straight
             
             }