The code is in NXC and I used the NXT Camera. To follow the line, the robot uses a simple PID. The robot uses the sonar to find objects by the road. It uses the light sensor to detect whether it found the right object.
Source code:
http://webhome.csc.uvic.ca/~ate/pid-l...
http://webhome.csc.uvic.ca/~ate/altca...
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