/*
A simple line following program.
It works with the standard NXT bot.
Place the bot on the test pad, with the wheels
on the start line facing forward.
Then start the program.

author: Jan-Klaas Kollhof
last changed by: $LastChangedBy$
last changed date: $Date$
revision: $Revision$
*/

#define LightThreshold 50
#define Fast 75
#define Slow 30

task main(){
    SetSensorLight(IN_3);

    //lets turn 90 deg left
    RotateMotorEx(OUT_BC, Fast, 180,-100, true, false);
    
    //now follow the line
    OnFwd(OUT_BC, Fast);
    while(1){
        if(Sensor(IN_3) > LightThreshold){
            //we just went off of the black line
            //so lets slow down on the right
            OnFwd(OUT_B,  Slow);
        }else{
            OnFwd(OUT_B, Fast);
        }
    }
}