Première approche

Une version vraiment minimale pour tester la réactivité du robot

#include <conio.h>
#include <dbutton.h>
#include <dsensor.h>
#include <dmotor.h>
#include <dsound.h>
#include <sys/tm.h>
#include <rom/system.h>

#define NORMAL_SPEED (MAX_SPEED)

static const note_t melody[] = {
 {PITCH_A4,1},{ PITCH_END, 0 }
};

//-------------------------------
int main()
{
int current1=0;
int current3=0;
int preced1=0;

ds_active(&SENSOR_3);
ds_active(&SENSOR_1);
//on ne se sert ici que de la partie emettrice de ce capteur
sleep(3);
//initialisation
while (1)
{
	current1=LIGHT_1;
	current3=LIGHT_3;

	if (current3 <80){//black
				motor_a_dir(fwd);
				motor_c_dir(fwd);
				motor_a_speed(NORMAL_SPEED);
				motor_b_speed(NORMAL_SPEED);
				motor_c_speed(NORMAL_SPEED);
				}
				
	else if ((current3 <110) && (current3>80)){//white
				motor_a_dir(rev);
				motor_c_dir(rev);
				motor_a_speed(NORMAL_SPEED);
				motor_b_speed(NORMAL_SPEED);
				motor_c_speed(NORMAL_SPEED);
	}
	else	{
		msleep(7);
		dsound_play(melody); //for debug...
		motor_a_dir(brake);
		motor_b_dir(brake);
		motor_c_dir(brake);
	}
	msleep(7);
}
return 0;
}