Costruzione pilota automatico per barca a vela

[marcofailla]

diff = rotta - angle;

if (diff < -180) {diff = diff + 360;}
if (diff > 180) {diff = diff - 360;}
scostamento = abs(diff);

if (diff < -3){digitalWrite(3, HIGH); delay(scostamento * 100);digitalWrite(3, LOW); delay(100);}

if (diff > 3){digitalWrite(2, HIGH); delay(scostamento * 100);digitalWrite(2, LOW); delay(100);}