nxtOSEK/samples_c++/cpp/NXTway_LT/LineTraceDriver.cpp

   1 //\r
   2 // LineTraceDriver.cpp\r
   3 //\r
   4 \r
   5 #include "LineTraceDriver.h"\r
   6 \r
   7 VectorT<S16> LineTraceDriver::getCommand()\r
   8 {\r
   9         VectorT<S16> cmd;\r
  10         if (mrLight.get() <= (WHITE + BLACK)/2)\r
  11         {\r
  12                 cmd = VectorT<S16>(50, 50); // Turn right\r
  13         }\r
  14         else\r
  15         {\r
  16                 cmd = VectorT<S16>(50,-50); // Turn left\r
  17         }\r
  18         return cmd;\r
  19 }\r