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 -- GitLab