RoboBrrd LDR Behaviour

gistfile1.c

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);

}