two_value.nxc

//反時計回りに旋回．2値制御
//本番環境 黒：30 白：70

#define BLACK 30
#define WHITE 70
#define turn_left OnRev(OUT_A,100);OnRev(OUT_C,slow);
#define turn_right OnRev(OUT_C,100);OnRev(OUT_A,slow);
#define LIGHT Sensor(IN_1)

task main(){
  int speed = 100;
  int turn = 10;
  int black = BLACK;
  int white = WHITE;
  int gray = (black + white) / 2;
  int slow;

  SetSensorLight(IN_1);
  //SetSensorType(S1,3);
  //SetSensorMode(S1,SENSOR_MODE_RAW);

  while(true){
    //white -> go left
    while(LIGHT >= gray){
      /*if(2 * abs(LIGHT-gray) > 10){
        slow = 2 * abs(LIGHT-white);
      }
      else{
        slow = 10;
      }*/
      slow = 100 -  trunc(2.7 * abs(LIGHT - gray));
      turn_left;
    }

    //black -> go right
    while(LIGHT < gray){
      /*if(2 * abs(LIGHT-gray) > 10){
        slow = 2 * abs(LIGHT-white);
      }
      else{
        slow = 10;
      }*/
      slow = 100 -  trunc(2.7 * abs(LIGHT - gray));
      turn_right;
    }
  }
}