1 files changed, 73 insertions, 0 deletions
diff --git a/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino b/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino
new file mode 100644
index 0000000..58de253
--- /dev/null
+++ b/libraries/Robot_Control/examples/explore/R02_Line_Follow/R02_Line_Follow.ino
@@ -0,0 +1,73 @@
+/* Robot Line Follow
+
+ This sketch demonstrates the line following capabilities
+ of the Arduino Robot. On the floor, place some black 
+ electrical tape along the path you wish the robot to follow.
+ To indicate a stopping point, place another piece of tape
+ perpendicular to the path.
+
+ Circuit:
+ * Arduino Robot
+ 
+ created 1 May 2013
+ by X. Yang
+ modified 12 May 2013
+ by D. Cuartielles
+ 
+ This example is in the public domain
+ */
+
+#include <ArduinoRobot.h> // include the robot library
+
+long timerOrigin; // used for counting elapsed time
+
+void setup() {
+  // initialize the Robot, SD card, display, and speaker 
+  Robot.begin();
+  Robot.beginTFT();
+  Robot.beginSD();
+  Robot.beginSpeaker();
+
+  // show the logots on the TFT screen
+  Robot.displayLogos();
+  
+  Robot.drawBMP("lf.bmp", 0, 0); // display background image
+
+  Robot.playFile("chase.sqm");  // play a song from the SD card
+  
+  // add the instructions
+  Robot.text("Line Following\n\n place the robot on\n the track and \n see it run", 5, 5);
+  Robot.text("Press the middle\n button to start...", 5, 61);
+  Robot.waitContinue();
+
+  // These are some general values that work for line following 
+  // uncomment one or the other to see the different behaviors of the robot
+  // Robot.lineFollowConfig(11, 5, 50, 10);
+  Robot.lineFollowConfig(14, 9, 50, 10);
+  
+  //set the motor board into line-follow mode
+  Robot.setMode(MODE_LINE_FOLLOW);  
+  
+  // start
+  Robot.fill(255, 255, 255);
+  Robot.stroke(255, 255, 255);
+  Robot.rect(0, 0, 128, 80); // erase the previous text
+  Robot.stroke(0, 0, 0);
+  Robot.text("Start", 5, 5);
+  
+  Robot.stroke(0, 0, 0); // choose color for the text
+  Robot.text("Time passed:", 5, 21); // write some text to the screen
+  
+  timerOrigin=millis(); // keep track of the elapsed time
+  
+  while(!Robot.isActionDone()) {  //wait for the finish signal
+    Robot.debugPrint(millis()-timerOrigin, 5, 29);  // show how much time has passed
+  }
+  
+  Robot.stroke(0, 0, 0);  
+  Robot.text("Done!", 5, 45);
+}
+void loop() {
+  //nothing here, the program only runs once. Reset the robot 
+  //to do it again!
+}