Created
July 3, 2011 21:09
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RoboBrrd LDR Behaviour
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void ldrBehaviour(int ldrL, int ldrR) { | |
// Current angle of X (leftright aka pan) | |
int current = leftright.read(); | |
// Neutral State | |
if(ldrL < (ldrR+thresh) && ldrL > (ldrR-thresh)) { | |
if(current < 90) { | |
leftright.write(current+1); | |
} else if(current > 90) { | |
leftright.write(current-1); | |
} | |
} | |
// Right is bright | |
else if(ldrL > (ldrR+thresh)) { | |
if(current < 180) { | |
leftright.write(current+1); // Going towards 180 | |
} else { | |
for(int i=0; i<6; i++) { | |
moveRightWing(!alternate); | |
alternate = !alternate; | |
delay(80); | |
} | |
rightwing.write(20); | |
} | |
} | |
// Left is bright | |
else if(ldrL < (ldrR-thresh)) { | |
if(current > 0) { | |
leftright.write(current-1); // Going towards 0 | |
} else { | |
for(int i=0; i<6; i++) { | |
moveLeftWing(!alternate); | |
alternate = !alternate; | |
delay(80); | |
} | |
leftwing.write(90); | |
} | |
} | |
// Update the current | |
current = leftright.read(); | |
// Left side | |
if(current < 90) { | |
int c0 = 90-current; | |
int c1 = (20*c0)/90; | |
int c2 = 100-c1; | |
updown.write(c2); | |
} | |
// Right side | |
else if(current > 90) { | |
int c0 = 90-(180-current); | |
int c1 = (20*c0)/90; | |
int c2 = 100-c1; | |
updown.write(c2); | |
} | |
// Home position | |
else { | |
updown.write(100); | |
} | |
delay(10); | |
} |
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