algv2

#include <murAPI.hpp>
int main()
{
    const int toSet = 70;
    const int kP = 7;
   int curs = 1,  v = -30;
     mur.addDetectorToList(Object::RECTANGLE, 0);
     bool isLineDetected = false;
while (true){
    int yaw = mur.getYaw();
    int u =((540-yaw+curs)%360-180);
    mur.setPortA(v-u);
    mur.setPortB(v+u);
     int depth = mur.getInputAOne();
      int power = (depth - toSet) * kP * (-1);

        mur.setPortC(power);
    if(!isLineDetected)
     for(auto obj : mur.getDetectedObjectsList(0)) {
     if(obj.type == Object::RECTANGLE){
         if(obj.angle <90){
       curs +=obj.angle;
         }else{
       curs -=obj.angle - 90;
               
             }
       isLineDetected = true;
     }
    }
   }         
        return 0;
}