var state = STATE_LINE_FOLLOW onevent prox if state == STATE_LINE_FOLLOW then call leds.top(32, 0, 0) if prox.ground.delta[0]<BLACK_THRESHOLD then #turn right motor.left.target = 100 motor.right.target = -50 end if prox.ground.delta[0]>BLACK_THRESHOLD then #turn left motor.left.target = -50 motor.right.target = 100 end if prox.horizontal[0]>WALL_THRESHOLD then state = STATE_WALL_FOLLOW end end if state == STATE_WALL_FOLLOW then call leds.top(0, 32, 0) if prox.horizontal[0]>WALL_DISTANCE then #turn right motor.left.target = 100 motor.right.target = -50 end if prox.horizontal[0]<WALL_DISTANCE then #turn left motor.left.target = -50 motor.right.target = 100 end if prox.ground.delta[0]<BLACK_THRESHOLD and prox.ground.delta[1]<BLACK_THRESHOLD then state = STATE_FORWARD motor.left.target = 100 motor.right.target = 100 end end if state == STATE_FORWARD then call leds.top(0, 0, 32) if prox.ground.delta[0]>BLACK_THRESHOLD or prox.ground.delta[1]>BLACK_THRESHOLD then state = STATE_LINE_FOLLOW end end