#include <MINDSi.h>
#include <Servo.h>

/***************************************************
/ MINDS-i Application. mymindsi.com
/
/QTI Application
/
/This QTI Application code is a basic example
/of how to incorporate your QTI sensor in the 
/Arduino code.  In this code your rover will 
/follow a black line.
/
/***************************************************/

Servo steer, drive;

int threshold = 300;

void setup() 
{
  drive.attach(4); //set a pin for the ESC/steering servo to use
  steer.attach(5); 
    
  drive.write(90); //set the output for the ESC/servo
  steer.write(90);

  delay(1000); //delay 1 second for arming

  drive.write(105); 
}

void loop(){
  if( QTI(A1) < threshold){ //if the center sensor is off
    if( QTI(A0) > threshold) { //and the left is on          
      steer.write(45); //turn left
    }
    else if(QTI(A2) > threshold) { //if not left, right?
      steer.write(135); //turn right
    }
  }
  else{
    steer.write(90);  //drive straight
  }



}