Solution to Line Tracker

/***********************************************
	* Salman Quazi
	* CS-595EA
	* Date: September 19, 2004
***********************************************/
/* Constant Definitions */
#define SENSOR		SENSOR_1
#define LEFT_MOTOR	OUT_C
#define RIGHT_MOTOR	OUT_A

/* Speed settings */
#define NORMAL_SPEED 7
#define TURN_SPEED 2
#define DELAY	20

/* This setting depends on several conditions like: lighting, contrast between the tape and the floor ... */
#define LINE_COLOR 768
#define FLOOR_COLOR 710

int eye;

/* I have been thinking about taking the average color of the 
floor and the black tape for more reliable results */
int average_color = (LINE_COLOR+FLOOR_COLOR)/2;

task main() {
	SetPower(LEFT_MOTOR,  NORMAL_SPEED);
	SetPower(RIGHT_MOTOR, NORMAL_SPEED);
	OnFwd(LEFT_MOTOR+RIGHT_MOTOR);

	while(true) {
		eye = SENSOR;
		SelectDisplay(DISPLAY_SENSOR_1);

		if (eye <= FLOOR_COLOR) {
			SetPower(LEFT_MOTOR+RIGHT_MOTOR, TURN_SPEED);
			Fwd(RIGHT_MOTOR);
			Rev(LEFT_MOTOR);
			On(LEFT_MOTOR+RIGHT_MOTOR);
			while(SENSOR <= FLOOR_COLOR);
		}
		else if (eye >= LINE_COLOR) {
			SetPower(LEFT_MOTOR+RIGHT_MOTOR, TURN_SPEED);
			Fwd(LEFT_MOTOR);
			Rev(RIGHT_MOTOR);
			On(LEFT_MOTOR+RIGHT_MOTOR);

			while(SENSOR >= LINE_COLOR);
		}
		else
			continue;

		SetPower(LEFT_MOTOR+RIGHT_MOTOR, NORMAL_SPEED);
		Fwd(LEFT_MOTOR);
		Fwd(RIGHT_MOTOR);
		On(LEFT_MOTOR+RIGHT_MOTOR);
	}
}