added wk 4 starter code for the lab

lab4_starter/lab4_starter.ino

+#include <Servo.h>
+
+#define RIGHT_LED_PIN          7
+#define LEFT_LED_PIN           8
+
+#define LEFT_QTI_PIN          A0
+#define MIDDLE_QTI_PIN        A1
+#define RIGHT_QTI_PIN         A2
+
+#define RIGHT_SERVO_PIN        5
+#define LEFT_SERVO_PIN         6
+
+#define SERVO_MIN_PULSE     1300
+#define SERVO_MAX_PULSE     1700
+#define SERVO_STANDSTILL    1500
+
+#define QTI_THRESHOLD          0 // Pane siia õige väärtus!
+
+/* Servomootorite globaalmuutujate deklaratsioonid */
+Servo leftWheel;
+Servo rightWheel;
+
+void setup() 
+{
+  /* Konfigureerime LEDid väljundiks */
+  pinMode(LEFT_LED_PIN, OUTPUT);
+  pinMode(RIGHT_LED_PIN, OUTPUT);
+
+  /* Konfigureerime servomootorid */
+  leftWheel.attach(LEFT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+  rightWheel.attach(RIGHT_SERVO_PIN, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+
+  /* Anname servodemootorite külge võtmiseks hetke aega */
+  delay(10);
+
+  /* Seadistame servomootorid seisvale asendile */
+  SetWheels(SERVO_STANDSTILL, SERVO_STANDSTILL);
+}
+
+void loop() 
+{
+  bool leftQtiSeesBlack = IsQtiDetectingBlack(LEFT_QTI_PIN);
+  bool rightQtiSeesBlack = IsQtiDetectingBlack(RIGHT_QTI_PIN);
+
+  /* Vastavalt sensori tulemustele otsustame käitumise */
+  if (leftQtiSeesBlack && rightQtiSeesBlack) 
+  {
+    MoveForward(20);
+  }
+  //else if (/* Jätka tingimuste kirjutamist */)
+  {
+
+  }
+}
+
+
+void MoveForward(uint16_t time)
+{
+  SetWheels(1700, 1300);
+  SetLed(HIGH, HIGH);
+  delay(time);
+}
+
+
+void SetWheels(int leftWheelImpulseLength, int rightWheelImpulseLength)
+{
+  leftWheel.writeMicroseconds(leftWheelImpulseLength);
+  rightWheel.writeMicroseconds(rightWheelImpulseLength);
+}
+
+
+bool IsQtiDetectingBlack(uint8_t qtiPin) 
+{
+  /* Lülitame infrapuna dioodi sisse 1 ms*/
+  digitalWrite(qtiPin, HIGH);
+  delayMicroseconds(1000);
+  digitalWrite(qtiPin, LOW);
+
+  /* Loeme kondensaatori pinge */
+  uint16_t qtiValue = analogRead(qtiPin);
+
+  /* Tavastame kas oli üle nivoo (tõene / väär) ehk tuvastas musta värvi */
+  return qtiValue > QTI_THRESHOLD;
+}
+
+
+void SetLed(uint8_t leftLedState, uint8_t rightLedState)
+{
+  digitalWrite(RIGHT_LED_PIN, leftLedState);
+  digitalWrite(LEFT_LED_PIN, rightLedState);
+}