Merge pull request #24 from CleoQc/master

Fix Light Follower block; change icon

README.md

@@ -29,7 +29,7 @@ gigglebot.spinMillisec(gigglebotWhichTurnDirection.Left, 1000)
 ```
 
 #### Steering is up to you, you can use it to orbit around a "sun". #steerMillisec
-With steering you control how much turning each wheel can do. In this example, the robot will halfway to the right, doing a curve around an object. The first number is percent-based. With a value of 0, the robot will not turn at all. With a value of 100, you will get the same behavior as the turn block.
+With steering you control how much turning each wheel can do. In this example, the robot will turn halfway to the right, doing a curve around an object. The first number is percent-based. With a value of 0, the robot will not turn at all. With a value of 100, you will get the same behavior as the turn block.
 ```blocks
 gigglebot.steerMillisec(50, gigglebotWhichTurnDirection.Right, 1000)
 ```
@@ -94,10 +94,13 @@ basic.forever(() => {
 
 ### Following a light #lightfollow
 
-The GiggleBot comes with two light sensors that allows it to follow a spotlight, a little bit like a cat would.  Shining a flashlight onto one eye will get the GiggleBot to turn in that direction.
+The GiggleBot comes with two light sensors that allows it to follow a spotlight, a little bit like a cat would.  Shining a flashlight onto one eye will get the GiggleBot to turn in that direction. You need to put this block in a loop. You may use a forever loop or one where you control the end condition. Make sure you stop the robot when exiting the loop!
 ```blocks
 input.onButtonPressed(Button.A, () => {
-    gigglebot.lightFollow()
+    while (!(input.buttonIsPressed(Button.B))) {
+        gigglebot.lightFollow()
+    }
+    gigglebot.stop()
 })
 ```
 

gigglebot.ts

@@ -493,19 +493,36 @@ namespace gigglebot {
     //% group=LightSensors
     //% weight=40
     export function lightFollow() {
-        let diff = 0
-        let current_lights = lightSensorsRaw()
-        diff = Math.abs((current_lights[0] - current_lights[1])) / 10;
-        if (current_lights[0] > current_lights[1]) {
-            // it's brighter to the right
-            motorPowerAssignBoth(motorPowerLeft, motorPowerRight - diff)
+        let diff = 20
+        let current_lights = gigglebot.lightSensorsRaw()
+        // serial.writeNumbers(current_lights)
+        if (current_lights[0] < 10 && current_lights[1] < 10) {
         }
-        else {
+        else if (current_lights[0] > current_lights[1] + diff) {
+            // it's brighter to the right
+            // lights.smileShow(NeoPixelColors.Black)
+            // lights.whichEye(gigglebotWhichEye.Right).setPixelColor(0, neopixel.colors(NeoPixelColors.Yellow))
+            // lights.whichEye(gigglebotWhichEye.Left).setPixelColor(0, neopixel.colors(NeoPixelColors.Black))
+            // lights.whichEye(gigglebotWhichEye.Both).show()
+            gigglebot.turn(gigglebotWhichTurnDirection.Right)
+        } else if (current_lights[1] > current_lights[0] + diff) {
             // it's brighter to the left
-            motorPowerAssignBoth(motorPowerLeft - diff, motorPowerRight)
+            // lights.smileShow(NeoPixelColors.Black)
+            // lights.whichEye(gigglebotWhichEye.Left).setPixelColor(0, neopixel.colors(NeoPixelColors.Yellow))
+            // lights.whichEye(gigglebotWhichEye.Right).setPixelColor(0, neopixel.colors(NeoPixelColors.Black))
+            // lights.whichEye(gigglebotWhichEye.Both).show()
+            gigglebot.turn(gigglebotWhichTurnDirection.Left)
+        } else {
+            // lights.whichEye(gigglebotWhichEye.Left).setPixelColor(0, neopixel.colors(NeoPixelColors.Violet))
+            // lights.whichEye(gigglebotWhichEye.Right).setPixelColor(0, neopixel.colors(NeoPixelColors.Violet))
+            // lights.whichEye(gigglebotWhichEye.Both).show()
+            // lights.smileRainbow()
+            gigglebot.driveStraight(gigglebotWhichDriveDirection.Forward)
         }
+        basic.pause(100)
     }
 
+
     /**
     * Reads left or right light sensor. 
     * The light sensors are placed in front of each eye neopixel, they're tiny! 

pxt.json

@@ -1,6 +1,6 @@
 {
     "name": "gigglebot",
-    "version": "1.0.4",
+    "version": "1.0.5",
     "dependencies": {
         "core": "*",
         "distanceSensor": "github:dexterind/pxt-distancesensor#v0.0.1"