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A Pololu Zumo Robot but use its 6 sensors to navigate the attached course

INSTRUCTIONS TO CANDIDATES
ANSWER ALL QUESTIONS

A Pololu Zumo Robot but use it’s 6 sensors to navigate the attached course.

 

It must begin at the short line at the top;

You must calibrate it (code provided) and then use a button counter to press the button on pin 12.

The button counter must determine whether it is an odd or even number of presses within 5 seconds and remember.

The Zumo must then use border detection to make it’s way through the “L” shape outline to the main centre line (green circle marks the beginning).
Follow the main centre line to the “U” shape, and then turn LEFT if the button was pressed an ODD amount of times, or RIGHT if it was pressed an EVEN amount of times.
It must then follow the line to the end and stop when it sees white.

Currently I have code that can successfully calibrate, successfully navigate the U shape using boarder detection, follow the centre line to the U shape and stop on the white “break” between the U shape and the line (red circle marks this).
I also have successful code that recognises odd or even button presses within 5 seconds and can act accordingly.

However I cannot get these files to work together as they are meant to. The line following code seems to affect the toggle code even when separated into a void statement to be called upon when needed.

All I need is the code to be assembled correctly.

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