line avoiding maze with object retrieval and deposit- MiniBloq and Sparkiduino

Hi 🙂

A few days ago I posted about the way Sparki can sense lines, or changes underneath him:

https://ashbotandsparki.wordpress.com/2015/06/26/how-does-sparki-sense-lines/

Here is a program that makes use of this information, including the potential flaws.

In this program Sparki is intended to move forward until he reads a change in the reflected light underneath (so reaches a darker surface) and then turn 90 round the corner in the opposite direction. So if the sensor on the far left detected change the Sparki would turn right and vica versa. This leaves the middle sensors open for picking up an object with the grippers and depositing an object at the end of the maze.

Here is a screenshot of part of the MiniBloq code (it wont fit):

And here is the arduino version:

#include <Sparki.h>

void setup()
{
	float threshold = 500;
	while(true)
	{
		int lineCenter = sparki.lineCenter();
		int edgeLeft = sparki.edgeLeft();
		int edgeRight = sparki.edgeRight();
                float threshold = 500;
		sparki.servo(0);
		sparki.RGB(0,255,0);
		if((edgeLeft<threshold))
		{
			sparki.servo(90);
			delay(2000);
			sparki.RGB(0,0,255);
			sparki.moveRight(90);
		}
		else
		{
		}
		if((edgeRight<threshold))
		{
			sparki.servo(-(90));
			delay(2000);
			sparki.RGB(0,0,255);
			sparki.moveLeft(90);
		}
		else
		{
		}
		if((edgeLeft>threshold))
		{
			sparki.moveForward(0);
		}
		else
		{
		}
		if((edgeRight>threshold))
		{
			sparki.moveForward(0);
		}
		else
		{
		}
		if((lineCenter<threshold))
		{
			delay(1000);
			sparki.moveForward(3);
			sparki.gripperClose();
			delay(4000);
			sparki.gripperStop();
			delay(2000);
			sparki.RGB(255,0,0);
		}
		else
		{
		}
		if(((edgeRight<threshold)&&(edgeLeft<threshold)))
		{
			sparki.gripperOpen();
			delay(4000);
			sparki.gripperStop();
			delay(2000);
			sparki.RGB(0,0,255);
			sparki.beep(540, 1000);
			sparki.moveBackward(3);
			sparki.moveLeft(180);
		}
		else
		{
		}
		delay(2000);
	}
}

void loop()
{
}

Here is a video of Sparki completing a maze by staying inside the lines:

https://drive.google.com/file/d/0B6y9ITteBcqLLThlN3JMZElIYm8/view?usp=sharing

And finally a picture of the awesome bot getting ready to start the maze

Let me know what you think 🙂 🙂