code for mr. Indecision

mr Indecision

/*
Simple Pan Tracking with 2 IR Sensors
Requires Arduino IDE version 0017 
or later (0019 or later preferred)
*/

#include 

Servo servo; // Define the servo
const int lineLSense = A4; //Define the Left IR Sensor
const int lineRSense = A2; //Define the Right IR Sensor
int degree = 90; //Starting point of the Servo

int irReflectR = 0;
int irReflectL = 0;
int thresh = 200; //You can adjust this threshold to manipulate the range of your IR sensor readings.

void setup() { 
servo.attach(9); // servo pin D9
Serial.begin(9200); 
} 

void loop() { 

// Read reflective sensors
int trav = 2;
irReflectL = analogRead(lineLSense); 
irReflectR = analogRead(lineRSense);
if (degree >= 180){
degree = 179;
}
if (degree <= 0){
degree = 1;
}
if (irReflectL >= thresh && irReflectR >= thresh) {
Serial.println("on line");
}

if (irReflectL >= thresh && irReflectR <= thresh) {
servo.write(degree + trav); // veering off right
degree=(degree + trav);
delay(4);
Serial.println("veering off right");
}

if (irReflectL <= thresh && irReflectR >= thresh) {
servo.write(degree - trav); // veering off left
degree=(degree - trav);

delay(4);
Serial.println("veering off left");
}

// If line is lost try to reacquire
if (irReflectL < thresh && irReflectR < thresh) {
Serial.println("lost");
delay(20);
}


}

// Motion routines for line following
void line_forward() {
servo.write(0);
}

void line_slipRight() {
servo.write(degree + 5);

}
void line_slipLeft() {
servo.write(0);
}
void line_spinRight() {
servo.write(180);
}
void line_spinLeft() {
servo.write(0);
}