Building Robots With Lego Mindstorms

Programming the RCX • Chapter 6 107

■

Input port 1 is attached to a touch sensor connected to the bumper. It

closes (goes from 0 to 1) when the bumper is pressed.

■

Input port 2 is attached to a face-down light sensor that reads the line.

Here is the initial code you should write:

int floor,line;

task Main()

{

Initialize();

Calibrate();

Go_Straight();

while(true)

{

Check_Bumper();

Follow_Line();

}

}

The main level of your program is quite simple, because at this point you’re

not concerned with what Go_Straight or the other subroutines mean in terms

of actions, you’re only concerned with the logic that connects the different situa-

tions.You are deciding the rules ...