Init commit with many years of arduino sketches and projects. I dont know if the esp8266 includes much, but there are also libraries. I hope they dont have crazy automatic versioning through the Arduino IDE.

Projects/ProgLab/Zumo__/Zumo__.ino

@@ -0,0 +1,128 @@
+/*
+Drive forward and turn left or right when border is detected
+  - Only reflectionsensor 0 and 5 are used.
+*/
+#include <ZumoMotors.h>
+#include <Pushbutton.h>
+#include <QTRSensors.h>
+#include <ZumoReflectanceSensorArray.h>
+#include <NewPing.h>
+ 
+#define LED 13
+ 
+// this might need to be tuned for different lighting conditions, surfaces, etc.
+#define lightThreshold  1800 // 
+  
+#define reverseSpeed     400
+#define turnSpeed        400
+#define forwardSpeed     400
+#define revDuration      300
+#define turnDuration     200
+#define triggerPin  3
+#define echoPin  2
+#define maxDistance  200
+
+ZumoMotors motors;
+Pushbutton button(ZUMO_BUTTON); // pushbutton on pin 12
+#define NUM_SENSORS 6
+unsigned int sensor_values[NUM_SENSORS];
+ZumoReflectanceSensorArray sensors;
+
+NewPing sonar(triggerPin, echoPin, maxDistance);
+
+unsigned int pingSpeed = 100;
+unsigned long pingTimer;
+ 
+void setup()
+{
+   Serial.begin(115200);
+   sensors.init();
+   pingTimer = millis();
+   //button.waitForButton();
+}
+
+boolean findLine()
+{
+  sensors.read(sensor_values);
+  if (sensor_values[0] < lightThreshold || sensor_values[5] < lightThreshold)
+  {
+    if (sensor_values[0] < lightThreshold)
+    {
+      turnLeft();
+      return true;
+    }
+    else if (sensor_values[5] < lightThreshold)
+    {
+      turnRight();
+      return true;
+    }
+  }
+  return false;
+}
+
+void turnLeft()
+{
+  motors.setSpeeds(-reverseSpeed, -reverseSpeed);
+  delay(revDuration);
+  motors.setSpeeds(turnSpeed, -turnSpeed);
+  delay(turnDuration);
+}
+
+void turnRight()
+{
+  motors.setSpeeds(-reverseSpeed, -reverseSpeed);
+  delay(revDuration);
+  motors.setSpeeds(-turnSpeed, turnSpeed);
+  delay(turnDuration);
+}
+/*
+void search()
+{
+  time = sonar.ping();
+  distance = sonar.convert_cm(time);
+  if (distance < 40)
+    motors.setSpeeds(310, 400);
+  else
+  {
+    motors.setSpeeds(400, 400);
+    delay(20);
+    time = sonar.ping();
+    distance = sonar.convert_cm(time);
+    if (distance < 40)
+      motors.setSpeeds(310, 400);
+  }
+}*/
+
+void echoCheck()
+{
+  if (sonar.check_timer())
+  {
+    if (sonar.ping_result / US_ROUNDTRIP_CM < 20)
+    {
+      Serial.println(sonar.ping_result / US_ROUNDTRIP_CM);
+      motors.setSpeeds(310, 400);
+    }
+    else
+    {
+      Serial.println("Nothing here!");
+      motors.setSpeeds(400, 400);
+      delay(20);
+    }
+  }
+}
+
+void scan()
+{
+  // Init at start, find the target.
+}
+
+void loop()
+{ 
+  findLine(); 
+  motors.setSpeeds(310, 400);
+  if (millis() >= pingTimer)
+  {
+    pingTimer += pingSpeed;
+    sonar.ping_timer(echoCheck);
+  }
+}