Robots @ SIT

Make a function/module that tracks a line using the following line tracking algorithm. Now, anytime you need to track a line, you will be able to reuse this function/module!

• If the left line sensor is over white and the right is over black, turn right.
• If the right line sensor is over white and the left is over black, turn left.
• If both line sensors are over the same color, move forward in a straight line.

Snap: Make a block that only includes the if-else statements and turns that you use to track the line. It should not contain a loop. To test your block, write a program that uses your block in a loop.

Snap!:

1. Create a block named FinchLineTrack. 

2. Within the block editor, add an if-else block, and another if-else block within the first else block.

3. Use the following algorithm for the line tracking block:

• If the left line sensor is over white and the right is over black, turn right.
• If the right line sensor is over white and the left is over black, turn left.
• If both line sensors are over the same color, move forward in a straight line.
• You will need knowledge for logical operators and comparison blocks to accomplish this.

4. Place the FinchLineTrack block into a forever loop block to loop infinitely, or place it in a repeat until block that stops when a button is pressed.

Python:

1. Use 'def linetrack():' to define the line tracking function.

2. Within the function, use an if-elif-else statement to move the Finch depending on what the line tracking sensors detect.

3. Use the code below to test out your function!

Use black electrical tape to create a path on a large sheet of white paper. The path should be about 2.5 cm wide. Avoid sharp turns; it is easier for the Finch to follow gradual curves.