LPC824_simple_line_tracer

#include "mbed.h"

AnalogIn sensor[] = {dp19, dp20, dp21};

BusOut mdA(dp7, dp6);
BusOut mdB(dp9, dp8);

Serial pc(USBTX, USBRX);

int sensor2bin(float sensor_var, float threshold)
{
    if(sensor_var > threshold) {
        return 1;
    } else{
        return 0;
    }
}

int main()
{
    int s[3] = {0, 0, 0};
    float ts = 0.3;
    float temp = 0.0;
    
    mdA = 0b11;
    mdB = 0b11;
    
    while(1) {
        for (int i = 0; i < 3; i++){
            temp = sensor[i].read();
            s[i] = sensor2bin(temp, ts);
            pc.printf("%d: %d %f\r\n", i, s[i], temp);    
        }
        pc.printf("-----\r\n");

        if(s[0]==0 && s[1]==1 && s[2]==0){
            mdA = 0b10;
            mdB = 0b10;
            pc.printf("straight\r\n");

        } else if(s[0]==1 && s[1]==1 && s[2]==1){
            mdA = 0b11;
            mdB = 0b11;
            pc.printf("stop\r\n");
        } else if(s[0]==1){
            mdA = 0b10;
            mdB = 0b00;
            pc.printf("left\r\n");
        } else if(s[2]==1){
            mdA = 0b00;
            mdB = 0b10;
            pc.printf("right\r\n");
        }
        pc.printf("-----\r\n");
        //wait(1.0);
    }
}