PmWiki | Student / Code

//Trong Nguyen

//Blue Cohort

//Line Following

//November 5

// Include the Command Module API

#include "create.h"

// Pointer to the Sensor Data structure

cr8_t *cr8;

// Main function

int main(void)

{

  ->// Allocate memory for sensor data structure
  ->cr8 = cr8_alloc();

  ->// Initialize the Create and Command Module
  ->// Sync communications settings.
  ->cr8_init(cr8);

//Trong's Line Following

//starts loop

while(true)

{

//polls sensors

  ->cr8_update(cr8);

//if the frontright cliff sensor senses black

//then rotate clockwise and turn on advance and the

//power led bright red

  ->if(cr8->cliff_frontright_range < 905)
  ->{
  ->cr8_drive_direct(500,-500);
  ->cr8_set_leds(off, on, 255, 255);
  ->}

//if the frontleft cliff sensor senses black

//then rotate counter clockwise and turn on play led

  ->else if(cr8->cliff_frontleft_range < 905)
  ->{
  ->cr8_drive_direct(-500,500);
  ->cr8_set_leds(on, off, 0, 0);
  ->}

//if the left cliff sensor senses black

//then rotate counter clockwise and turn on the play and advance leds on

  ->else if(cr8->cliff_left_range < 905)
  ->{
 -> cr8_drive_direct(-500,500);
 -> cr8_set_leds(on, on, 0, 0);
 -> }

//if the right cliff sensor senses black

//then rotate clockwise and turn on the play and power led

//at bright red

  ->else if(cr8->cliff_right_range < 905)
  ->{
  ->cr8_drive_direct(500,-500);
  ->cr8_set_leds(on, off, 255, 255);
  ->}

//if both sensors do not black, then drive at

//100mm/sec

  ->else
  ->{
  ->cr8_drive_direct(100,100);
  ->}

}

  ->// release the sensor data strucutre memory and exit the program
  ->cr8_free(cr8);
  ->return 0;

}