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First, you define the pin for the lights, and then three integers are declared that will hold the values read from the three light dependent resistors: #define lights 9 int LDR1, LDR2, LDR3; // sensor values Then another three integers are declared that will hold the offset values for the three sensors calculated in the calibration routine (this will be explained later): int leftOffset = 0, rightOffset = 0, centre = 0; Next, you define the pins that will control the speed and direction of the two motors: int speed1 = 3, speed2 = 11, direction1 = 12, direction2 = 13; Then two integers are created to hold the initial speed of the motors and the speed offset for each wheel that you add or subtract to make the robot rotate: int startSpeed = 70, rotate = 30; The default speed is set to 70, which is around 27% duty cycle. You may need to adjust this value to suit your own robot. 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The rotate value is how much you will speed up or slow down the wheels to cause the robot to turn In my case, the required value is 30 So when turning left, for example, the right wheel spins at speed 100 and the left wheel at a speed of 40 (70+30 and 70-30) The rotate value is another setting you may need to adjust for your own setup Another integer is created to hold the sensor threshold: int threshhold = 5; This is the difference in values required between the center sensor and the left or right sensors before the robot decides to turn In my case, a setting of 5 works well This means that the left and right sensors would need to detect a value greater than the value read from the center sensor plus the threshold value before action is taken. crystal reports upc-a Crystal Reports Universal Product Code version A( UPC-A ) Barcode ... UPC-A Crystal Reports Barcode Generator Component is a mature &professional linear UPC-A barcode generating library for Crystal Reports . 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