[color=Green];2 ir sensor line edge follower robotty thing[/color]
[color=Navy]#picaxe [/color][color=Black]28x2[/color]
[color=Blue]setfreq m8[/color]
[color=Black]init:[/color]
[color=Blue]symbol [/color][color=Black]lsensor[/color][color=DarkCyan]=[/color][color=Blue]a.2
symbol [/color][color=Black]rsensor[/color][color=DarkCyan]=[/color][color=Blue]a.3
symbol [/color][color=Black]lmotordir [/color][color=DarkCyan]= [/color][color=Blue]B.6
symbol [/color][color=Black]rmotordir [/color][color=DarkCyan]= [/color][color=Blue]B.7
symbol [/color][color=Black]lpwm[/color][color=DarkCyan]=[/color][color=Navy]299[/color][color=Green];60%[/color]
[color=Blue]symbol [/color][color=Black]rpwm[/color][color=DarkCyan]=[/color][color=Navy]299[/color][color=Green];60%[/color]
[color=Blue]high [/color][color=Black]lmotordir [/color][color=Green]; motors[/color]
[color=Blue]high [/color][color=Black]rmotordir [/color][color=Green]; forward[/color]
[color=Blue]pwmout pwmdiv16[/color][color=Black], [/color][color=Blue]C.1[/color][color=Black],[/color][color=Navy]124[/color][color=Black],[/color][color=Navy]0 [/color][color=Green]; 1000Hz @ 8MHz left motor [/color]
[color=Blue]pwmout pwmdiv16[/color][color=Black], [/color][color=Blue]C.2[/color][color=Black],[/color][color=Navy]124[/color][color=Black],[/color][color=Navy]0 [/color][color=Green]; 1000Hz @ 8MHz right motor[/color]
[color=Blue]pwmduty C.1[/color][color=Black],lpwm[/color]
[color=Blue]pwmduty C.2[/color][color=Black],rpwm
main: [/color][color=Green];----------------------- START ------------------[/color]
[color=Blue]if [/color][color=Black]lsensor[/color][color=DarkCyan]=[/color][color=Navy]1 [/color][color=DarkCyan]and [/color][color=Black]rsensor[/color][color=DarkCyan]=[/color][color=Navy]0 [/color][color=Blue]then
pwmduty c.1[/color][color=Black],[/color][color=Navy]299
[/color][color=Blue]pwmduty c.2[/color][color=Black],[/color][color=Navy]299
[/color][color=Blue]goto [/color][color=Black]main[/color]
[color=Blue]endif[/color]
[color=Green];[/color]
[color=Blue]if a.2 high then [/color][color=Green];left sensor hit black-steer right
[/color][color=Black]lpwm[/color][color=DarkCyan]=[/color][color=Black]lpwm[/color][color=DarkCyan]+[/color][color=Navy]10 [/color][color=DarkCyan]max [/color][color=Navy]499
[/color][color=Black]rpwm[/color][color=DarkCyan]=[/color][color=Black]rpwm[/color][color=DarkCyan]-[/color][color=Navy]10 [/color][color=DarkCyan]min [/color][color=Navy]99
[/color][color=Blue]pwmduty c.1[/color][color=Black],lpwm
[/color][color=Blue]pwmduty c.2[/color][color=Black],rpwm
[/color][color=Blue]goto [/color][color=Black]main[/color]
[color=Blue]endif[/color]
[color=Green];[/color]
[color=Blue]if a.3[/color][color=DarkCyan]=[/color][color=Navy]1 [/color][color=Blue]then[/color][color=Green]; right sensor hit white-steer left
[/color][color=Black]rpwm[/color][color=DarkCyan]=[/color][color=Black]rpwm[/color][color=DarkCyan]+[/color][color=Navy]10 [/color][color=DarkCyan]max [/color][color=Navy]499
[/color][color=Black]lpwm[/color][color=DarkCyan]=[/color][color=Black]lpwm[/color][color=DarkCyan]-[/color][color=Navy]10 [/color][color=DarkCyan]min [/color][color=Navy]99
[/color][color=Blue]pwmduty c.1[/color][color=Black],lpwm
[/color][color=Blue]pwmduty c.2[/color][color=Black],rpwm
[/color][color=Blue]goto [/color][color=Black]main[/color]
[color=Blue]endif[/color]
[color=Green];[/color]
[color=Blue]goto [/color][color=Black]main[/color]
[color=Green];[/color]
[color=Black]motors_fullspeed:[/color]
[color=Blue]pwmduty C.1[/color][color=Black],[/color][color=Navy]499 [/color][color=Green]; motors[/color]
[color=Blue]pwmduty C.2[/color][color=Black],[/color][color=Navy]499 [/color][color=Green]; full[/color]
[color=Blue]pwmout pwmdiv16[/color][color=Black], [/color][color=Blue]C.1[/color][color=Black],[/color][color=Navy]124[/color][color=Black],[/color][color=Navy]499[/color]
[color=Blue]return[/color]