carré v2

lineFollower/lineFollower.ino/lineFollower.ino.ino

@@ -1,55 +0,0 @@
-
-
-#include <Arduino.h>
-#include <Wire.h>
-#include <SoftwareSerial.h>
-#include "MeMCore.h"
-// declare motors
-MeDCMotor _leftMotor(9);
-MeDCMotor _rightMotor(10);
-
-// declare gyro
-MeGyro _gyro;
-const int TRANSLATION_SPEED = 100; // This is the translation speed in mm/s
-
-void setup() {
-  Serial.begin(115200);
-
-  // set no speed for left and right motors 
-  _leftMotor.run((9)==M1?-(0):(0));
-  _rightMotor.run((10)==M1?-(0):(0));
-
-  // initialize the gyro
-  _gyro.begin();
-
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-// Read line follower sensor data
-int sensorValue = mLineFollower.readSensor();
-
-// Proportional control to adjust the rotation speed
-int error = 500 - sensorValue; // 500 is the sensor reading when the robot is on the black line
-int rotationSpeed = error * 0.5; // Proportional constant
-
-// Calculate the motor speeds based on the translation and rotation speeds
-int leftMotorSpeed = TRANSLATION_SPEED - rotationSpeed;
-int rightMotorSpeed = TRANSLATION_SPEED + rotationSpeed;
-
-// Move the robot
-move(leftMotorSpeed, rightMotorSpeed);
-
-}
-void move(int leftMotorSpeed, int rightMotorSpeed)
-{
-_leftMotor.run((9)==M1?-(leftMotorSpeed):(leftMotorSpeed));
-_rightMotor.run((10)==M1?-(rightMotorSpeed):(rightMotorSpeed));
-}
-
-// Function to stop the robot
-void stop()
-{
-_leftMotor.stop();
-_rightMotor.stop();
-}

lineFollower/lineFollower.ino/lineFollower/lineFollower.ino

@@ -0,0 +1,44 @@
+
+
+// Create a MeLineFollower object
+MeLineFollower lineFollower(PORT_1);
+
+// Set the motor speed
+int speed = 150;
+
+void setup() {
+  // Initialize the Makeblock library
+  MePort port = PORT_3;
+  MeMegaPiDCMotor leftMotor(port);
+  port = PORT_4;
+  MeMegaPiDCMotor rightMotor(port);
+
+  // Set the motor direction
+  leftMotor.run(-speed);
+  rightMotor.run(-speed);
+
+  // Wait for the robot to start moving
+  delay(1000);
+}
+
+void loop() {
+  // Read the line follower sensors
+  int left = lineFollower.readSensors(0);
+  int middle = lineFollower.readSensors(1);
+  int right = lineFollower.readSensors(2);
+
+  // Calculate the error
+  int error = (left * -1) + (middle * 0) + (right * 1);
+
+  // Calculate the motor speed
+  int leftSpeed = speed + error;
+  int rightSpeed = speed - error;
+
+  // Set the motor speed
+  MePort port = PORT_3;
+  MeMegaPiDCMotor leftMotor(port);
+  port = PORT_4;
+  MeMegaPiDCMotor rightMotor(port);
+  leftMotor.run(leftSpeed);
+  rightMotor.run(rightSpeed);
+}