Programming Manual Elektor Proton Robot - ELEKTOR.se

}LCD03_SET_CURSOR(55);LCD03_WRITE_BYTE(LFT_WHEEL);if (LF_L){LFT_WHEEL = 135;RGT_WHEEL = 150;}else if (!(LF_C)){if (!(LF_R)){LFT_WHEEL = 160;RGT_WHEEL = 130;}else{LFT_WHEEL = 150;RGT_WHEEL = 135;}}else{LFT_WHEEL = 150;RGT_WHEEL = 150;}I2C_SEND_MESSAGE(0xB0,0,LFT_WHEEL);I2C_SEND_MESSAGE(0xB0,1,RGT_WHEEL);}}if (LF_L){LFT_WHEEL = 135;RGT_WHEEL = 150;}else if (!(LF_C)){if (!(LF_R)){LFT_WHEEL = 160;RGT_WHEEL = 130;}else{LFT_WHEEL = 150;RGT_WHEEL = 135;}}else{LFT_WHEEL = 150;RGT_WHEEL = 150;}I2C_SEND_MESSAGE(0xB0,0,LFT_WHEEL);I2C_SEND_MESSAGE(0xB0,1,RGT_WHEEL);}Proton robot developer’s notes:These 3 line follow sensors work perfectly – only if they are at a certain distance fromthe ground that they need to ‘see’. Be aware of this exact distance. Any distancebetween 1 and 5 mm should do fine. A sensor that hits the surface will not detectanything.Your first program should always be with one sensor, afterwards use 2 or 3 sensors.Always use some kind of indication of the ‘state’ of the used line sensors. Use led’s orthe LCD.These sensors use only Infra-red light for the measurement. Be aware that sunlighthas quite a bit of IR spectrum and can so corrupt the measurement.Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 82