nxc.nxc

task main()
{
  SetSensorLowspeed(S3);
  SetSensorLowspeed(S4);
  
  float vr,vl;    //定義vr,vl來當右左輪的動力
  float kp=0.4, a=22.45;  //kp代表放大倍率,a帶表馬達動力的初始值
  int average,realtime;   //average平均值,realtime目標值
  OnFwd(OUT_BC,45);
  Wait(300);
  Off(OUT_BC);
  average = NXTLineLeaderAverage(S3, MS_ADDR_LINELDR); //自動抓取平均值
  NumOut(0, LCD_LINE2, average);   //average   平均
  while(true)
  {
       realtime = NXTLineLeaderAverage(S3, MS_ADDR_LINELDR); //抓取目標值
       NumOut(0, LCD_LINE3, realtime);
       if(realtime>average)         //當目標值大於平均值
       {
       vl = a + kp * (realtime-average);   //vl左輪動力小
       vr = a + kp * (realtime+average);   //vr右輪動力大
       OnFwd(OUT_B,vr+0.1);
       OnFwd(OUT_C,vl);
       }
       else if(realtime<average)    //當目標值小於平均值
       {
       vl = a + kp * (realtime+average);    //vl左輪動力大
       vr = a + kp * (realtime-average);   //vr右輪動力小
       OnFwd(OUT_B,vr);
       OnFwd(OUT_C,vl);
  }
}