[maths222]

I use this code: https://hprobotics.googlecode.com/sv...IRController.h to get a more accurate reading from the sensor. Additionally, I use two controllers with the following code:


dir=IRGetACDir(IRSLeft)-(10-IRGetACDir(IRSRight));
if (dir<0)
{
leftSpeed(-50);
rightSpeed(50);
}
if (dir>0)
{
leftSpeed(50);
rightSpeed(-50);
}
if (dir==0)
{
leftSpeed(50);
rightSpeed(50);
}