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Edge Avoidance program for arcbotics sparki.
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#include <Sparki.h> | |
class EdgeAvoidance{ | |
int threshold; | |
int angle; | |
int distBack; | |
int leftEdge; | |
int rightEdge; | |
int wait; | |
public: | |
EdgeAvoidance(int vThresh, int vAngle, int vDistBack, int vWait){ | |
threshold = vThresh; | |
angle = vAngle; | |
distBack = vDistBack; | |
wait = vWait; | |
} | |
void checkEdge(){ | |
leftEdge = sparki.edgeLeft(); | |
rightEdge = sparki.edgeRight(); | |
} | |
boolean inEdge(int edgeValue){ | |
return edgeValue < threshold; | |
} | |
void avoid(){ | |
sparki.moveBackward(distBack); | |
inEdge(leftEdge) ? sparki.moveLeft(angle) : sparki.moveRight(); | |
} | |
void act(){ | |
checkEdge(); | |
showValues(); | |
if(inEdge(leftEdge) || inEdge(rightEdge)){ | |
avoid(); | |
}else{ | |
sparki.moveForward(); | |
delay(wait); | |
} | |
} | |
void showValues(){ | |
sparki.clearLCD(); | |
sparki.print("leftEdge:"); | |
sparki.println(leftEdge); | |
sparki.print("rightEdge:"); | |
sparki.println(rightEdge); | |
sparki.updateLCD(); | |
} | |
}; | |
EdgeAvoidance edgeAvoid(200, 30, 15, 100); | |
void setup(){ | |
} | |
void loop(){ | |
edgeAvoid.act(); | |
} |
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