10/01/2002
5:45 PM

 

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Frankentosh: Building Robots using Mac OS X
 
   
  • Mindstorms
  • 
    #define EYE	SENSOR_2
    #define LEFT	OUT_A
    #define RIGHT	OUT_C
    #define ACCURACY 50
    #define WAIT_TIME 15
    
    int midpoint;
    void steer() {
        if (EYE <= (midpoint-ACCURACY)) {
            Rev(LEFT);
            until(EYE > (midpoint-ACCURACY));
            Fwd(LEFT); Wait(WAIT_TIME);
        } else if (EYE >= (midpoint+ACCURACY)) {
            Rev(RIGHT);
            until(EYE < (midpoint+ACCURACY));
            Fwd(RIGHT); Wait(WAIT_TIME);
        }
    }
    task main() {
        SetSensor(EYE, SENSOR_LIGHT);	
        // I'm using raw because it's more accurate than percent
        SetSensorMode(EYE, SENSOR_MODE_RAW);
        midpoint = EYE - ACCURACY;
        On (LEFT + RIGHT);
        while(true) { steer(); }
    }
    
 
   
Ted Stevko, Stevko Studios http://www.plasticnoodle.com