#RedBot_Line_Follower_Bar
##Example Sketch Descriptions

• AveragingFollower
  Does a sort of over-sampling on the sensor readings, doesn't work too well

• AveragingReadBarOnly
  Like the AveragingFollower but doesn't drive, outputs serial

• LessBasicFollower
  Like the MostBasicFollower with an additional "corner detected" action

• MostBasicFollower
  Simply tries to steer towards center. After playing with the sensor, run this sketch on an actual robot course

• NintendoControlled
  run the redBot by XBee! Need to form a packet on the airwaves...

• ReadBarOnly
  Dump the various method calls to the serial term. This is a good place to start

##Method Descriptions

####SensorBar::SensorBar()
This is the constructor. It takes no arguements and does nothing.

####uint8_t SensorBar::getRaw( void )
The method getRaw() takes no arguements and returns a picture of what the bar sees in bits.

If the bar sees a line (dark) under the left most two sensors, getRaw() would return 0xC0, or 1100000b

####int8_t SensorBar::getPosition( void )
Use this method to get an average direction of where the line is, as a number from -127 to 127.

With the left most two detectors example, this method returns decimal 111.

If the left 4 are covered, it returns 79.

A way to conceptualize this method is that it returns a 1 dimetional vector that points to the center of the density of the detected line.

####uint8_t SensorBar::getDensity( void )
This method returns the number of sensors that detect dark, 0 through 8.

####void SensorBar::scan( void )
This method must be periodically called! It operates the I2C machine and updates the internal class members so that the other functions work