''  bluatigro 27 apr 2018
''  dark line follow
''  volg donkere lijn

''  robot wil follow a dark line
''  robot vlogt een donkere lijn

''  const's init
''  constanten init
colport = 1
colreflect = 0  ''readpercent
colambient = 1  ''readpercent
colcolor = 2    ''readrawvalue
rgbraw = 4      ''readraw
irport = 4
irproc = 0      ''readpercent = cm
irseek = 1      ''readraw = angle , dist
irremote = 2    ''readraw[ 0 ... 3 ] = channel[ 1 ... 4 ]
Sensor.SetMode( colport , colreflect )
Sensor.SetMode( irport , irremote )

EV3.SetLEDColor( "ORANGE" , "PULSE" )
irkey = Sensor.ReadRaw( irport )
While irkey( 0 ) <> 3 And irkey <> 4
  irkey = Sensor.ReadRaw( irport )
EndWhile 
ev3.SetLEDColor( "GREEN" , "PULSE" )

'  main lus | loop
While irkey( 0 ) <> 1 And irkey( 0 ) <> 2
  light = Sensor.ReadPercent( colport )
  irkey = Sensor.ReadRaw( irport )
  If light < 50 Then
    Motor.MoveSteer( "bc" , -15 , 75 , 30 , "false" )
  Else 
    Motor.MoveSteer( "bc" , 75 , -15 , 30 , "false" )
  EndIf 
EndWhile