Diff: code.cpp

Revision:

0:008c53db1931

Child:

1:d8c15d5b8eac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/code.cpp	Tue Mar 20 16:28:07 2018 +0000
@@ -0,0 +1,32 @@
+#include "main.h"
+
+void repeat()
+{
+    float speed = 0.5;
+    
+    
+    robot.scan();
+
+    // in range -1 to 1, no error when line is at 0.0
+    // number is negative when the line is to the left
+    // number is positive when the line is to the right
+    float position =  robot.read_line();
+    
+    robot.display_data(); 
+    
+    
+    
+    float step = 0.4*position; 
+    // + when line to right
+    // - for line to left
+    
+    
+    if (position < 0.0) {  // line to the left...need to turn left
+        robot.left_motor(speed+step);
+        robot.right_motor(speed);
+    } else { // line to the right...need to turn right
+        robot.left_motor(speed);
+        robot.right_motor(speed-step);
+    }
+
+}
\ No newline at end of file