ex_NXTLineLeader.nxc

This is an example of how to use the NXTLineLeaderSteering, NXTLineLeaderAverage, NXTLineLeaderResult, NXTLineLeaderPowerDown, NXTLineLeaderPowerUp, NXTLineLeaderInvert, NXTLineLeaderReset, NXTLineLeaderSnapshot, NXTLineLeaderCalibrateWhite, NXTLineLeaderCalibrateBlack, SetNXTLineLeaderSetpoint, SetNXTLineLeaderKpValue, SetNXTLineLeaderKiValue, SetNXTLineLeaderKpValue, SetNXTLineLeaderKpFactor, SetNXTLineLeaderKiFactor, SetNXTLineLeaderKdFactor, SetSensorLowspeed, NumOut, and Wait functions.

task main()
{
  SetSensorLowspeed(S1); // NXTLineLeader is an i2c device

  char val;
  // position sensor over white surface for 1 second
  val = NXTLineLeaderCalibrateWhite(S1, MS_ADDR_LINELDR);

  Wait(SEC_1);

  // position sensor over black surface for 1 second
  val = NXTLineLeaderCalibrateBlack(S1, MS_ADDR_LINELDR);

  Wait(SEC_1);

  // position sensor over line
  byte steering, average, result;
  steering = NXTLineLeaderSteering(S1, MS_ADDR_LINELDR);
  average = NXTLineLeaderAverage(S1, MS_ADDR_LINELDR);
  result = NXTLineLeaderResult(S1, MS_ADDR_LINELDR);

  NumOut(0, LCD_LINE1, steering);
  NumOut(0, LCD_LINE2, average);
  NumOut(0, LCD_LINE3, result);

  Wait(SEC_5);

  // put the device to sleep
  val = NXTLineLeaderPowerDown(S1, MS_ADDR_LINELDR);

  Wait(SEC_5);

  // wake up the device
  val = NXTLineLeaderPowerUp(S1, MS_ADDR_LINELDR);

  // invert colors (white line on black surface)
  val = NXTLineLeaderInvert(S1, MS_ADDR_LINELDR);

  Wait(SEC_5);
 
  // reset back to default colors
  val = NXTLineLeaderReset(S1, MS_ADDR_LINELDR);

  Wait(SEC_5);

  // take a snapshot of the surface below the device
  val = NXTLineLeaderSnapshot(S1, MS_ADDR_LINELDR);

  // set sensor configuration values to non-defaults
  val = SetNXTLineLeaderSetpoint(S1, MS_ADDR_LINELDR, 10); // default is 45
  // set PID values
  val = SetNXTLineLeaderKpValue(S1, MS_ADDR_LINELDR, 100); // default is 25
  val = SetNXTLineLeaderKiValue(S1, MS_ADDR_LINELDR, 10); // default is 0
  val = SetNXTLineLeaderKdValue(S1, MS_ADDR_LINELDR, 50); // default is 8
  // set PID factors
  val = SetNXTLineLeaderKpFactor(S1, MS_ADDR_LINELDR, 40); // default is 32
  val = SetNXTLineLeaderKiFactor(S1, MS_ADDR_LINELDR, 40); // default is 32
  val = SetNXTLineLeaderKdFactor(S1, MS_ADDR_LINELDR, 40); // default is 32

  Wait(SEC_5);
}