Pololu 0J5840, Руководство пользователя

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245 }
// This is the main function, where the code starts. All C programs
// must have a main() function defined somewhere.
int main()
{
unsigned int sensors[5]; // an array to hold sensor values
// set up the 3pi
initialize();
// This is the "main loop" - it will run forever.
while (1)
{
// Get the position of the line. Note that we *must* provide
// the "sensors" argument to read_line() here, even though we
// are not interested in the individual sensor readings.
unsigned int position = read_line(sensors,IR_EMITTERS_ON);
if (position < 1000)
{
// We are far to the right of the line: turn left.
// Set the right motor to 100 and the left motor to zero,
// to do a sharp turn to the left.
Note that the maximum
// value of either motor speed is 255, so we are driving
// it at just about 40% of the max.
set_motors(0,100);
// Just for fun, indicate the direction we are turning on
// the LEDs.
left_led(1);
right_led(0);
}
else if (position < 3000)
{
// We are somewhat close to being centered on the line:
// drive straight.
set_motors(100,100);
left_led(1);
right_led(1);
}
else
{
// We are far to the left of the line: turn right.
set_motors(100,0);
left_led(0);
right_led(1);
}
}
// This part of the code is never reached. A robot should
// never reach the end of its program, or unpredictable behavior
// will result as random code starts getting executed.
If you
// really want to stop all actions at some point, set your motors
// to 0,0 and run the following command to loop forever:
//
// while(1);
}
Pololu 3pi Robot User’s Guide © 2001–2019 Pololu Corporation
7. Example Project #1: Line Following Page 34 of 85