Updated libraries and made the linefollower PID into a lib

Joe/Tumbler Bot/TumbleBot Line Follower Basic/source.c

@@ -18,6 +18,18 @@
 int  threshold = 2400;
 int var = 0;
 
+void findLine()
+{
+	int lowerThreshold = 1200; //thresholdbetween light and dark
+
+	while(SensorValue[masterReflector] < lowerThreshold)
+	{
+		standard(27); //go forward at 40
+		delay(10); //wait 10ms before checking again
+	} //this loop will exit once the robot finds the line!
+	halt(); //stop motors
+}
+
 task main()
 {
 	while(true)
@@ -35,7 +47,7 @@ task main()
 				{
 					while(var < 100)
 					{
-						linePID(21, LED, 0.0078); //run the PID loop with format (SPEED, STATUSLIGHT, P, I, D)
+						linePID(starboardReflector, masterReflector, portReflector, starboardAft, portAft, LED, 21, 0.0078); //run the PID loop with format (SPEED, STATUSLIGHT, P, I, D)
 						var++;
 					}
 					var = 0;

libraries/lineFollowing.h

@@ -1,21 +1,17 @@
-void findLine()
-{
-	int lowerThreshold = 1200; //thresholdbetween light and dark
+/* This function by Joe.
+ * If you're reading this, great! Heres a quick guide to get you started,
+ * use the command linePID(RIGHTLF, CENTERLF, LEFTLF, RIGHTMOTOR, LEFTMOTOR, LED, TGTSPEED, KP);
+ * and populate the feilds in caps with your variables, if you need to use two motors (tank drive) 
+ * call the function twice, one for each set of left and right wheels, a patch will be coming out 
+ * to fix this. Happy coding!
+ */
 
-	while(SensorValue[masterReflector] < lowerThreshold)
-	{
-		standard(27); //go forward at 40
-		delay(10); //wait 10ms before checking again
-	} //this loop will exit once the robot finds the line!
-	halt(); //stop motors
-}
-
-void linePID(int speed, char statusLight, float Kp, /*proportional*/ /*float Ki, /*integral*/ /*float Kd, /*derivative*/) //serious maths
+void linePID(char rightReflector, char centerReflector, char leftReflector, char rightMotor, char leftMotor, char statusLight, int speed, float Kp, ) //serious maths
 {
 
 	int threshold = 400; //The value at witch we can differ a black line from a white table, we could make this a self calibrating value!!
 
-	float error = SensorValue[starboardReflector] - SensorValue[portReflector]; //rescan the error
+	float error = SensorValue[rightReflector] - SensorValue[leftReflector]; //rescan the error
 	/* In a PID loop, the goal is to aproach the target, but not overshoot it, a good PID loop can swoosh right to the target,
 	* while many others simply just, rush past it and come back right after, this mathamtical form of position control has been
 	* around since the first basic electronic navigation systems
@@ -24,22 +20,22 @@ void linePID(int speed, char statusLight, float Kp, /*proportional*/ /*float Ki,
 	if((abs(error)) <= 10) //While the absolute value of the error (pos || neg) is less than the deadzone, do nothing, just drive ahead
 	{
 		SensorValue[statusLight] = true; //Turn on the LED while tracking center
-		portDriveTrain(speed); //drive at speed
-		starboardDriveTrain(speed); //drive at speed
+		motor[leftMotor] = speed; //drive at speed
+		motor[rightMotor] = speed; //drive at speed
 		/* It is well understood that the motors very often do not drive at the same rate, so its likely we'll wobble or hug one side of
 		 * line, this is not all that bad tbh
 		 */
 	}
 	else //In the case of being in error (Never gonna happen ik), do the following
 	{
 		SensorValue[statusLight] = false; //turn off the light
-		starboardDriveTrain(speed + (Kp * error)); //Subtract or add to the value speed, the error multplied by its weight (Kp)
-		portDriveTrain(speed + (Kp * (error * -1))); //Subtract or add to the value speed, the error multplied by its weight (Kp)
+		motor[rightMotor] = (speed + (Kp * error)); //Subtract or add to the value speed, the error multplied by its weight (Kp)
+		motor[leftMotor] = (speed + (Kp * (error * -1))); //Subtract or add to the value speed, the error multplied by its weight (Kp)
 		/* we've multiplied the weight(kp) by error, but the error number is negative in the starboard side so that we can stray backwards
 		 * and away from the line when we impact it on the corrosponding side
 		 */
 
-		if(SensorValue[masterReflector] >= threshold && error <= 200)
+		if(SensorValue[centerReflector] >= threshold && error <= 200)
 		{
 			SensorValue[LED] = true; //LED on
 			/* Just a test, if the value of master reflector is greater than the threshold AND the error is less than a number
@@ -51,4 +47,4 @@ void linePID(int speed, char statusLight, float Kp, /*proportional*/ /*float Ki,
 			 */
 		}
 	}
-}
+}