edge avoidance improved version for sparki. improved version.

edgeAvoidance.ino

#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;
    }
    
    boolean inCorner(){
      return inEdge(rightEdge) && inEdge(leftEdge); 
    }
    
    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 actForever(){
      while(true){
        act();   
      }
    }
    
  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();    
}