Do Line Following with PID Until Checkpoint Detected

This block starts automatic PID-based line following and continues until the robot detects the specified number of checkpoints.

How It Works

The robot repeatedly performs the following operations:

1. Reads the five IR sensor values.
2. Determines the position of the detected line.
3. Calculates the line-position error.
4. Applies the configured PID constants.
5. Adjusts the left and right motor speeds.
6. Checks whether a checkpoint has been detected.

When the line reaches an extreme position detected by an outer sensor, the robot can use the configured sharp-turn speeds to make a stronger correction.

Once the specified checkpoint count is reached, the robot stops the line-following operation.

Python Function – Quarky and Quarky Intellio:

lf5ir.followlinepiduntilcheckpoint(1)

Example: Set the checkpoint count to 1. The robot follows the line using PID control and stops when the first checkpoint is detected and confirmed.