Diff: basic.h

Revision:

0:d453d7554981

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/basic.h	Wed Jan 11 09:43:00 2017 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+#include "m3pi_ng.h"
+ 
+m3pi pi;
+ 
+int main() {
+ 
+    // Parameters that affect the performance
+    float speed = 0.7; //geschw.
+    float correction = 0.5;   //korrektur links, rechts
+    float threshold = 0.5;  //schwelle, korrektur
+ 
+    pi.locate(0,1); //vorgefertigte position, ausrichten
+    pi.printf("Runde: ");
+ 
+    wait(2.0);
+    
+    pi.sensor_auto_calibrate();
+    
+    while (1) {
+ 
+        // -1.0 is far left, 1.0 is far right, 0.0 in the middle
+        float position_of_line = pi.line_position();
+ 
+        // Line is more than the threshold to the right, slow the left motor
+        if (position_of_line > threshold) {
+            pi.leftt_motor(speed);
+            pi.right_motor(speed-correction);
+        }
+ 
+        // Line is more than 50% to the left, slow the right motor
+        else if (position_of_line < -threshold) {
+            pi.right_motor(speed);
+            pi.left_motor(speed-correction);
+        }
+ 
+        // Line is in the middle
+        else {
+            pi.forward(speed);
+        }
+    }
+}
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