LineFollow.nxc

#define SPEED 40
#define CorrectHigh 65
#define CorrectLow 5

int Black_time;
int Last_detected;

task main()
{
	Black_time = 0;
	Last_detected = 0;
	OnFwd(OUT_AC, 70);
	Wait(10);
	SetSensorLight(IN_3);
	SetSensorColorFull(IN_1);
	OnFwd(OUT_AC, SPEED);
	while (true)
	{
		if (Sensor(IN_1) == 6)
		{
			Black_time -= 5;
			Last_detected = 1;
			OnFwd(OUT_C, CorrectHigh);
			OnFwd(OUT_A, CorrectLow);
			until(Sensor(IN_3) > 38)
		}
		else if (Sensor(IN_3) > 38)
		{
			Black_time -= 5;
			Last_detected = 3;
			OnFwd(OUT_A, CorrectHigh);
			OnFwd(OUT_C, CorrectLow);
			until(Sensor(IN_1) == 6)
		}
		else
		{
			Black_time += 10;
			OnFwd(OUT_AC, SPEED);
		}
	}
}