PROGRAMME ON LINE FOLLOWER ROBOT

Hey guys, earlier i had posted a programm on parallel port.

here is a programme on line follower robot. check it out!!

int motl=0, motr=1;
int s=25;
int l=4, m=3, r=2;
float dt=0.0;

int l_notape,m_notape,r_notape;
int l_tape,m_tape,r_tape;
int l_tol,m_tol,r_tol,d;

void main(){
calibrate();
init();
d=3;
while(1){
if (d==3) {
while((analog(l)<=l_tol)&&amp;(analog(m)<=m_tol)&&(analog(r)<=r_tol)){ motor(motl,s); motor(motr,-s); printf("%d %d %d\n",analog(l),analog(m),analog(r)); if (analog(l)>l_tol)
d=1;
if (analog(m)>m_tol)
d=2;
if (analog(r)>r_tol)
d=3;
}
}
while((analog(l)>l_tol)(analog(m)>m_tol)(analog(r)>r_tol)){
motor(motl,2*s);
motor(motr,2*s);
printf("%d %d %d\n",analog(l),analog(m),analog(r));
if (analog(l)>l_tol)
d=1;
if (analog(m)>m_tol)
d=2;
if (analog(r)>r_tol)
d=3;
}
printf("%d %d %d\n",analog(l),analog(m),analog(r));
if (d==1) {
while((analog(l)<=l_tol)&&amp;(analog(m)<=m_tol)&&(analog(r)<=r_tol)){ motor(motl,-s); motor(motr,s); printf("%d %d %d\n",analog(l),analog(m),analog(r)); if (analog(l)>l_tol)
d=1;
if (analog(m)>m_tol)
d=2;
if (analog(r)>r_tol)
d=3;
}
}
}
}


/ Subroutines/

void calibrate(){
int temp;
while(!stop_button()){
l_notape=analog(l);
m_notape=analog(m);
r_notape=analog(r);
printf("No Tape: %d %d %d\n",l_notape,m_notape,r_notape);
sleep(.1);
}
tone(800.,1.);
while(!stop_button()){
l_tape=analog(l);
m_tape=analog(m);
r_tape=analog(r);
printf("Tape: %d %d %d\n",l_tape,m_tape,r_tape);
sleep(.1);
}
temp=(l_tape-l_notape)/2;
l_tol=l_notape+temp;
temp=(m_tape-m_notape)/2;
m_tol=m_notape+temp;
temp=(r_tape-r_notape)/2;
r_tol=r_notape+temp;
printf("Tol: %d %d %d\n",l_tol,m_tol,r_tol);
tone(800.,1.);
}
void init(){
printf("Press Start to Go!\n");
while(!start_button()){}
tone(800.,1.);
}
void test(){
while((analog(l)<=l_notape)&(analog(m)>=m_tape)&(analog(r)<=r_notape)){ motor(motl,s); motor(motr,s); printf("%d %d %d\n",analog(l),analog(m),analog(r)); } ao(); while (analog(l)>=l_tape){
motor(motl,-s);
motor(motr,s);
printf("%d %d %d\n",analog(l),analog(m),analog(r));
}
while (analog(r)>=r_tape){
motor(motl,s);
motor(motr,-s);
printf("%d %d %d\n",analog(l),analog(m),analog(r));
}
}