import lejos.nxt.Button; import lejos.nxt.LCD; import lejos.nxt.LightSensor; import lejos.nxt.Motor; import lejos.nxt.SensorPort; import lejos.robotics.navigation.DifferentialPilot; import lejos.util.Delay; public class SeguiLinea { public static void main(String[] args) { LightSensor ls = new LightSensor(SensorPort.S1, true); // led acceso DifferentialPilot dp = new DifferentialPilot(5.5, 11.5, Motor.A, Motor.C); int valS = 0, valC = 0, valM = 0; LCD.drawString("Misura scuro", 0, 0); Delay.msDelay(2000); valS = ls.getLightValue(); LCD.drawString("Misura chiaro", 0, 0); Delay.msDelay(2000); valC = ls.getLightValue(); valM = (valC + valS) / 2; do { int val = ls.getLightValue(); LCD.drawInt(val, 0, 0); dp.steer((val - valM) * 10); } while (!Button.ESCAPE.isDown()); } }