The code is the sample that comes with the Arduino Robot, used as is:
/* 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!
}
It has no debug output, status is displayed on the robot TFT.
--- Ben
