line following program for arcbotics sparki

linesense.ino

#include <Sparki.h>

class LineSense{
  
  int threshold; 
  
  public:
    LineSense(int thresh){
      threshold = thresh;
    }
    
    boolean isLine(int sensorValue){
      return sensorValue < threshold;
    }
    
    void follow(){
      if (isLine(sparki.lineLeft())){
        sparki.moveLeft();
      }else {
        isLine(sparki.lineRight()) ? sparki.moveRight() : sparki.moveForward();
      }
    }
    
    
    void show(){
      sparki.clearLCD();
      sparki.print("left: ");
      sparki.println(sparki.lineLeft());
      sparki.print("center: ");
      sparki.println(sparki.lineCenter());
      sparki.print("right: ");
      sparki.println(sparki.lineRight());
      sparki.updateLCD();
    }
    
    void act(){
      show();
      follow();
      delay(75);
    }
};

LineSense lineSense(500);

void setup(){
}

void loop(){
  lineSense.act();
}