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55 lines
926 B
C++
55 lines
926 B
C++
#include <PLab_ZumoMotors.h>
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#include <Pushbutton.h>
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#include <QTRSensors.h>
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#include <ZumoBuzzer.h>
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#include <ZumoMotors.h>
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#include <ZumoReflectanceSensorArray.h>
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#define maxSpeed 400
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#define reverseSpeed 400
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#define lightThreshold 1800
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ZumoMotors motors;
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Pushbutton button(ZUMO_BUTTON);
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unsigned int sensorValues[6];
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ZumoReflectanceSensorArray reflectaneceSensors;
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void setup()
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{
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reflectaneceSensors.init();
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motors.setSpeeds(0,0);
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button.waitForButton();
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}
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void findLine()
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{
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reflectaneceSensors.read(sensorValues);
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if (sensorValues[0] > lightThreshold)
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{
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turnLeft(1000);
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}
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else if (sensorValues[5] > lightThreshold)
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{
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turnRight(1000);
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}
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}
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void turnLeft(int delayTime)
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{
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motors.setSpeeds(0, 200);
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delay(delayTime);
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}
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void turnRight(int delayTime)
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{
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motors.setSpeeds(200, 0);
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delay(delayTime);
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}
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void loop()
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{
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findLine();
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motors.setSpeeds(200, 200);
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}
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