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Purple Task(LL)
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Purple Task(LL)
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#include "MeMCore.h"
MeUltrasonicSensor ultraSensor(PORT_3);
MeLineFollower lineFinder(PORT_2);
MeDCMotor motor_right(M1);
MeDCMotor motor_left(M2);
uint8_t motorSpeed = 100;
void setup()
{
Serial.begin(9600);
}
void loop()
{
int sensorState = lineFinder.readSensors();
switch(sensorState)
{
case S1_IN_S2_IN:
motor_right.stop();
motor_left.stop();
break;
case S1_IN_S2_OUT:
case S1_OUT_S2_IN:
case S1_OUT_S2_OUT:
motor_right.run(+motorSpeed);
motor_left.run(-motorSpeed);
break;
default:
break;
}
//turn left
motor_right.run(+motorSpeed);
motor_left.run(+motorSpeed);
motor_right.stop();
motor_left.stop();
delay(1500);
int dist = ultraSensor.distanceCm();
while(dist > 4)
{
//Move forward untill less than 4cm
motor_right.run(+motorSpeed);
motor_left.run(-motorSpeed);
dist = ultraSensor.distanceCm();
}
motor_right.stop();
motor_left.stop();
delay(1500);
//left turn
motor_right.run(+motorSpeed);
motor_left.run(+motorSpeed);
}