From 2b7964650fb56343f06eb4d03e64743164602eb6 Mon Sep 17 00:00:00 2001
From: Konstantin Kalinin <kalinin.konst.official@gmail.com>
Date: Thu, 6 Jan 2022 20:26:24 +0000
Subject: [PATCH] Added a central sensor

---
 RoboCar.bpi | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/RoboCar.bpi b/RoboCar.bpi
index 26c7202..28a9865 100755
--- a/RoboCar.bpi
+++ b/RoboCar.bpi
@@ -1,11 +1,12 @@
 Function RCInit(in number[] sensors)
   Sensor.SetMode (sensors[0], @SENSOR_STATE)
   Sensor.SetMode (sensors[1], @SENSOR_STATE)
+  Sensor.SetMode (sensors[2], @SENSOR_STATE)
 EndFunction
 
 lineDetectionThreshold = 20
 Function RCdetectLine(in number[] sensors, out number detected)
-  If (Sensor.ReadRawValue(sensors[0], 0) < @lineDetectionThreshold) And (Sensor.ReadRawValue(sensors[1], 0) < @lineDetectionThreshold) Then
+  If (Sensor.ReadRawValue(sensors[1], 0) < @lineDetectionThreshold) And (Sensor.ReadRawValue(sensors[2], 0) < @lineDetectionThreshold) Then
     detected = 1
   Else
     detected = 0
@@ -23,8 +24,8 @@ Function RCdetectRedLine(in number[] sensors, out number detected)
 EndFunction
 
 Function RCstepPID(in number PIDk, in string motors, in number[] sensors, in number power)
-  leftSensorValue = Sensor.ReadRawValue(sensors[0], 0)
-  rightSensorValue = Sensor.ReadRawValue(sensors[1], 0)
+  leftSensorValue = Sensor.ReadRawValue(sensors[1], 0)
+  rightSensorValue = Sensor.ReadRawValue(sensors[2], 0)
   
   PIDCompute(PIDk, leftSensorValue - rightSensorValue, turn)
   
@@ -84,4 +85,4 @@ Function RCSkipLine(in number PIDk, in string motors, in number[] sensors, in nu
     RCdetectLine(sensors, detected)
   EndWhile
   Motor.Stop(motors, "")
-EndFunction
\ No newline at end of file
+EndFunction
-- 
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