File content as of revision 0:c0ae66a0ec7a:

#include "robot_logic.h"

m3pi m3pi;

#define MAX_SPEED 1.0
#define MAX_TURN_SPEED 1.0

/*
 * Drive the robot forward or backward.
 *
 * @speed The speed percentage with which to drive forward or backward.
 * Can range from -100 (full throttle backward) to +100 (full throttle forward).
 */
void drive(int speed) {
    if (speed > 100 || speed < -100) {
        printf("[ERROR] Drive speed out of range");
        return;
    }

    if (speed == 0) {
        m3pi.stop();
    } else if (speed > 0) {
        m3pi.forward(MAX_SPEED*speed/100.0);
    } else if (speed < 0) {
        m3pi.backward(MAX_SPEED*-speed/100.0);
    }
}

/*
 * Turn the robot left or right.
 *
 * @speed The speed percentage with which to turn the robot.
 * Can range from -100 (full throttle left) to +100 (full throttle right).
 */
void turn(int turnspeed) {
    if (turnspeed > 100 || turnspeed < -100) {
        printf("[ERROR] Turn speed out of range");
        return;
    }

    if (turnspeed == 0) {
        m3pi.stop();
    } else if (turnspeed > 0) {
        m3pi.right(MAX_TURN_SPEED*turnspeed/100.0);
    } else if (turnspeed < 0) {
        m3pi.left(MAX_TURN_SPEED*-turnspeed/100.0);
    }
}

/*
 * Stop the robot.
 */
void stop(void) {
    m3pi.stop();
}

/*
 * Read the value from the line sensor. The returned value indicates the
 * position of the line. The value ranges from -100 to +100 where -100 is
 * fully left, +100 is fully right and 0 means the line is detected in the middle.
 *
 * @return The position of the line with a range of -100 to +100.
 */
int line_sensor(void) {
    // Get position of line [-1.0, +1.0]
    float pos = m3pi.line_position();
    return ((int)(pos * 100));
}



// Show drive speed and sensor data
void showStats(void) {
    m3pi.cls();          // Clear display

    // Display speed
    m3pi.locate(0, 0);
        // x   The horizontal position, from 0 to 7
        // y   The vertical position, from 0 to 1
    m3pi.printf("FOR 100%%");

    // Display line
    m3pi.locate(0, 1);
    int line = line_sensor();
    m3pi.printf("LINE %d", line);
}




/*
 * Wait for an approximate number of milliseconds.
 *
 * @milliseconds The number of milliseconds to wait.
 */
void doWait(int milliseconds) {
    wait_ms(milliseconds);
}