[Catastrophy]

Heres a tip if your having problems staying on the line, make it go in reverse if no line is being read. Heres a picture of the temp configuration (gonna have a metal plate for final all neatly up under the hood. and holes in chasse for beam to get out.)) and a video of this year's sensors on last year's bot. The video is kinda bad example of how the code's working, the video is 15 sec, but it usually only take 7-11 seconds to get to the ball stand

http://home.comcast.net/~Catastrophy/picture.jpg
http://home.comcast.net/~Catastrophy/movie.avi

Here's the code tweaked for our bot if anyones interested.

		if (dig12 == 1 && dig18 == 1){
			pwm14=76; 
			pwm16=76; 
		}
		if (dig18 == 1 && dig1 == 1 &! dig12 == 1 &! dig6 == 1){
			pwm16=96;
			pwm14=115;
		} 
		if (dig18 == 1 &! dig1 == 1 &! dig12 == 1){
			pwm16=86;
			pwm14=115; 
		}
		if (dig1 == 1 &! dig18 == 1 &! dig6 == 1){
			pwm16=76; 
			pwm14=178; 
		}
		if (dig12 == 1 && dig4 == 1 &! dig18 == 1 &! dig10 == 1){
			pwm16=96; 
			pwm14=115; 
		}
		if (dig4 == 1 &! dig12 == 1 &! dig10 == 1){
			pwm16=178;
			pwm14=76; 
		}
		if (dig12 == 1 &! dig4 == 1 &! dig18 == 1){
			pwm16=115; 
			pwm14=86; 
		}
		if (dig1 == 0 && dig4 == 0 && dig12 == 0 && dig18 == 0 && dig8 == 0 && dig10 == 0 && dig6 == 0){
			pwm14=155;
			pwm16=155;
		}
		if (dig6 == 1 &! dig1 == 1){
			pwm14=204;
			pwm16=50;
		}	
		if (dig8 == 1){
			pwm14=127;
			pwm16=127;
		}
		if (dig10 == 1 &! dig4 == 1){
			pwm14=50;
			pwm16=204;
		}