Craig Evans / Mbed 2 deprecated 3pi_Line_Follow

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Dependencies:   m3pi mbed

code.cpp

Committer:
eencae
Date:
2018-03-20
Revision:
0:008c53db1931
Child:
1:d8c15d5b8eac

File content as of revision 0:008c53db1931:

#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);
    }

}