Programming

The following is how i want my programming of the LFR to pan out. The 1's are when my sensor has sensed the line and my O's for when it hasn't. In effect with 5 sensors there are only 32 combinations (binary) that need to be accounted for in my program.

00000- No line stand still.

00001- Hard right

00010-Gentle right

00011-Gentle right

00100-On track keep forward

00101- Error keep on current trajectory

00110-Keep on trajectory

00111-Hard right (corner)

01000-Gentle left

01001-Error

01010-error

01011-error

01100-keep on trajectory

01101-error

01110-hard left (corner)

01111-hard left (corner)

10000-hard left

10001-error

10010-error

10011-error

10100-error

10101-error

10110-error

10111-error

11000-Gentle left

11001-error

11010-error

11011-error

11100-Hard Left.

11101-error

11110-hard left

11111-Stop

I now need to decide weather it is best to use interrupts or not. They would be faster , however, and would allow code to continue uniterrupted untill a corner or deviation from the line would be detected. However my lack of knowledge on programming interrupts in PICAXE Basic will need to be enlarged as it has not been covered in great detail.